Bi-criteria Acceleration Level Obstacle Avoidance of Redundant Manipulator

Zhao, Weifeng; Li, Xiaoxiao; Chen, Xin; Su, Xin; Tang, Guanrong

doi:10.3389/fnbot.2020.00054

Cited by 10 publications

(10 citation statements)

References 28 publications

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“…Lagrangian-based controller and dual neural network controller are proposed in Xu et al 22 and Wang 84 respectively. b In Guo and Zhang, 86 the inner and outer safe threshold is set. Literature 91 gives the nearest point’s coordinate of the manipulator distance from the obstacle. c This is the first paper extended inequality-based collision avoidance method to multiple WMRs collision-free path following. …”

Section: Collision Avoidance Methodsmentioning

confidence: 99%

Review of wheeled mobile robot collision avoidance under unknown environment

Wang¹,

Zhang³

et al. 2021

Science Progress

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Recently, the working scenes of the robot have been emerging as diversity and complexity with gradually mature of robotic control technology. The challenge of robot adaptability emerges, especially in complicated and unknown environments. Among the numerous researches on improving the adaptability of robots, aiming at avoiding collision between robot and external environment, obstacle avoidance has drawn much attention. Compared to the global circumvention requiring the environmental information that is known, the local obstacle avoidance is a promising method due to the environment is possibly dynamic and unknown. This study is aimed at making a review of research progress about local obstacle avoidance methods for wheeled mobile robots (WMRs) under complex unknown environment in the last 20 years. Sensor-based obstacle perception and identification is first introduced. Then, obstacle avoidance methods related to WMRs’ motion control are reviewed, mainly including artificial potential field (APF)-based, population-involved meta heuristic-based, artificial neural network (ANN)-based, fuzzy logic (FL)-based and quadratic optimization-based, etc. Next, the relevant research on Unmanned Ground Vehicles (UGVs) is surveyed. Finally, conclusion and prospection are given. Appropriate obstacle avoidance methods should be chosen based on the specific requirements or criterion. For the moment, effective fusion of multiple obstacle avoidance methods is becoming a promising method.

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Section: Collision Avoidance Methodsmentioning

confidence: 99%

Review of wheeled mobile robot collision avoidance under unknown environment

Wang¹,

Zhang³

et al. 2021

Science Progress

Self Cite

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“…While designing algorithms for collision detection and obstacle avoidance, many experts simplify the target into a topological structure. Some studies made an effective bounding box modeling of obstacles, and the collision detection was realized by using the vector relationship between them [18,19]. In this work, the idea of simplification is used for reference, and each link of the multi-DOF manipulator is surrounded by a cylinder.…”

Section: Get the Coordinate Information Of Key Pointsmentioning

confidence: 99%

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

Liu

Zhang²,

Qin³

et al. 2022

Meas. Sci. Technol.

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In order to address the self-collision problem associated with the operation of modern industrial robots, this paper proposes a multi-degree-of-freedom (multi-DOF) collision detection algorithm that can detect self-collision in single arm and double arm robots as well as collision with the load. Firstly, the zero pose of the Denavit-Hartenberg model is built based on the manipulator configuration, and the coordinate information of each key point is obtained through a rotation and translation operation of the matrix. Then, the positional relation and distance between the detected objects are determined by the spatial geometry theory, and finally, collision is detected using a collision matrix. By simulating two groups of single arms and two groups of double arms, and from the laboratory testing of SR10C in the SIASUN robot factory, it has been verified that the proposed algorithm has good collision detection capability. Without the use of sensors, cameras, and other external devices, the collision between the arm and the load, and the collision between the cooperative robot and the load may be effectively detected and mitigated.

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“…Redundant robot manipulators refer to such kind of manipulators whose degrees of freedom (DoF) are more than the minimum number of DoF needed to perform specific end-effector tasks (Zhang et al, 2018 ; Liao et al, 2019 ; Zhou et al, 2019 ; Chen et al, 2020 ; Xiao et al, 2020 ; Zhao et al, 2020 ; Jin et al, 2021 ). Therefore, they have the capability to meet additional requirements, e.g., satisfying physical limits, avoiding obstacles, and avoiding singularity configurations.…”

Section: Introductionmentioning

confidence: 99%

Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

Tang

Zhang²

2022

Front. Neurorobot.

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By considering the different-level time-varying physical limits in joint space, a refined self-motion control scheme via Zhang neurodynamics equivalency (SMCSvZ) of redundant robot manipulators is proposed, analyzed, and investigated in this manuscript. The SMCSvZ is reformulated as a quadratic program with an equation constraint and a unified bound inequation constraint, which meets the self-motion requirements including the end effector keeping immobile and the initial joint-angle velocities being zero. Simulative verifications based on a six-degrees-of-freedom planar redundant manipulator substantiate the efficacy, accuracy, and superiority of the proposed control scheme, additionally by comparing it with two previous self-motion control schemes. Besides, simulative verifications based on a PUMA560 manipulator are carried out to further verify the availability and correctness of the SMCSvZ.

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Bi-criteria Acceleration Level Obstacle Avoidance of Redundant Manipulator

Cited by 10 publications

References 28 publications

Review of wheeled mobile robot collision avoidance under unknown environment

Review of wheeled mobile robot collision avoidance under unknown environment

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

Refined Self-Motion Scheme With Zero Initial Velocities and Time-Varying Physical Limits via Zhang Neurodynamics Equivalency

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