Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm

Abstract

To deal with the problem of obstacle avoidance for redundant robots, an obstacle avoidance algorithm based on the internal motion of the 7-DOF redundant anthropomorphic arm is presented. The motion of that critical points move away from the closest points on the obstacles is defined as obstacle avoiding motion. Two transitioning variables were used to make a smooth, continuous transition between the primary and the secondary tasks. Using this approach, the robot can get the target configuration while avoiding the obstacles. Finally, the validity of the obstacle avoidance algorithm based on transitioning between tasks is manifested by simulation. The results show that, for the obstacle avoiding problem, the redundant robot not only can realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.

Task constrained motion planning for 7-degree of freedom manipulators with parameterized submanifolds

“…This experiment is similar to the one in (Kucuk, 2016), and the positions of the obstacles are hard-coded, and FCL is used to compute the distance between robot and the surrounding obstacles. Three methods are implemented: simple Jacobian pseudo-inverse method, null space projection method from (Shen et al , 2015) and our method.…”

“…Many researches have been done on projecting secondary task motions into the null space of the robots’ Jacobian matrix. The secondary tasks can be joint limits avoidance (Dubey et al , 1991), singularity avoidance (Yoshikawa, 1984) or collision avoidance (Maciejewski and Klein, 1985; Shen et al , 2015). Besides, Sadeghian et al realized null-space compliance (Sadeghian et al , 2014) and Flacco et al extended it into acceleration level (Flacco et al , 2012).…”

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

“…From now on, the task space tracking will be referred to as the main-task objective and the optimization measure for self-motion as the sub-task objective. In one of the previous studies by Shen et al [28], obstacle avoidance is applied in numerical simulations on a seven DoF robot manipulator. However, the control is accomplished in the kinematic level, unlike the control presented in this paper.…”

“…The closed-loop error system is given by where the positive definiteness of the inertia matrix was also utilized [21]. Equating ( 27) and (7) (28) implies that the task space tracking error e goes to zero exponentially.…”

Planificación de movimiento mediante algoritmo de campos potenciales con optimizacion de parametros aplicado a un manipulador antropomorfico de 6 GLD

“…El método de campos potenciales es ampliamente utilizado en el campo de navegación de robots móviles debido a su fácil implementación [7]. Sin embargo, también han sido implementados en simulación de manipuladores altamente redundantes [8], [9]. Asimismo, Rajendran [10] desarrolla un método de planificación de movimiento aplicado a manipuladores robóticos que se encuentran en espacios desorganizados y con muchos obstáculos.…”