Real-time collision avoidance for a redundant manipulator in an unstructured environment

Xie, He; Patel, Rajni V.; Kalaycioglu, S.; Asmer, H.

doi:10.1109/iros.1998.724881

Cited by 10 publications

(6 citation statements)

References 3 publications

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“…Distance measuring is a procedure, before collision avoidance, to determine the possibility of collisions. As computing the distance from a manipulator to obstacles using accurate topology is very time consuming, many researchers have been trying to find efficient approaches to speed up the calculation, for example, covering the links of a robot manipulator with polytope, polyhedron [5], [6], sphere [7], [8], [10], [11], ellipsoid, etc., which can significantly reduce computing time. Based on the measured distance between the robot arm and obstacles in the environment, collision avoidance algorithms are then used to steer the movement of a robot arm away from obstacles while fulfilling its task.…”

Section: Introductionmentioning

confidence: 99%

“…Based on the measured distance between the robot arm and obstacles in the environment, collision avoidance algorithms are then used to steer the movement of a robot arm away from obstacles while fulfilling its task. Many techniques for this objective, for example the Configuration Space (C-Space) method [2], [3], potential field approach [4], [9] and force field method [11], [12], have been developed. Path/motion planning and collision avoidance have been extensively investigated.…”

Section: Introductionmentioning

confidence: 99%

“…Brock and Khatib presented elastic strip framework generating an obstacle bended free space tunnel for a robot to move from point to point [10]. Xie et al used spheres covering a robot and converted the repulsive forces to joint torques to find the collision free trajectory [11]. D.Wang et al presented a variable speed force field (VSF 2 ) method in 2D for multi-mobile robot collaboration and collision avoidance [12].…”

Section: Introductionmentioning

confidence: 99%

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A 3-Dimensional Force Field Method for Robot Collision Avoidance in Complex Environment

Chotiprayanakul¹,

Liu²,

Wang³

et al. 2007

Automation and Robotics in Construction &Amp;#8213; Proceedings of the 24th International Symposium on Automation and Robotics

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This paper proposes a three-dimensional force field (3D-F 2 ) method for efficient motion planning and collision avoidance of a 6DOF manipulator in complex and dynamic environments while keeping the planned end-effector's path and speed unchanged. The 3D-F 2 is defined as ellipsoid shapes covering selected links of a manipulator. When the manipulator moves and its ellipsoid force field approaches to an obstacle in a tolerant range, a repulsive force will be generated and considered in the robot kinematic and dynamic analyses. In infrastructure maintenance, spray-painting and sand-blasting operations require that the operating spot "moves" smoothly and continuously along planned path on a work surface at a constant speed, and allow changes in length and orientation of the spray/blasting stream. Thus, the stream is supposed to be another link and the end of stream performs as a spherical joint fixed on the target surface. Various simulations in a construction area show that the 3D-F 2 can retain the operating path and effectively avoid potential collisions.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A 3-Dimensional Force Field Method for Robot Collision Avoidance in Complex Environment

Chotiprayanakul¹,

Liu²,

Wang³

et al. 2007

Automation and Robotics in Construction &Amp;#8213; Proceedings of the 24th International Symposium on Automation and Robotics

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“…14 Most of the proposed methods solve the obstacle avoidance problem at the kinematic level and only some of them consider also the manipulator dynamics. 9,[17][18][19] In this paper, we want to present another approach to the on-line obstacle avoidance for the redundant manipulators considering also the dynamics of the manipulator. Considering the dynamics it is reasonable to define the obstacle avoidance at the force level, i.e.…”

Section: Introductionmentioning

confidence: 99%

Force strategies for on-line obstacle avoidance for redundant manipulators

Žlajpah¹,

Nemec²

2003

Robotica

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The paper deals with on-line obstacle avoidance in an unstructured environment based on the force strategy. The obstacle avoidance is considered as a control problem. We discuss three approaches regarding the sensors used to detect the obstacles. First we investigate how obstacles can be avoided without using any sensors to detect them. To solve the problem we make use of a very basic principle: an action causes a reaction. For backdrivable manipulators we propose a controller which ensures stiff behaviour in the task space and compliant behaviour in the null space. Using such control the tracking capabilities in the task space can be preserved and the redundant degrees of freedom are used to avoid the obstacle after the collision. The tactile sensors are proposed to be used as the alternative for stiff systems. A tactile sensor detects an obstacle and the controller generates the avoiding motion. Last, we present a virtual forces approach which can be applied to the systems with proximity sensors. The objective is to assign each point on the body of the manipulator, which is close to the obstacle force component in a direction that is away from the obstacle. The proposed formulation avoids the problem of singular configurations and is very suitable when many obstacles are present in the neighbourhood of the manipulator. The computational efficiency of the proposed algorithms allows real-time application in a unstructured or time-varying environment. The efficiency of the proposed control algorithms is illustrated by simulations of highly redundant planar manipulators and by experiments on a four link planar manipulator.

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“…Σχήμα 1. Νάνο Καλώδιο [7] (1,10), προσαρμοστικού ελέγχου (36) για παρακολούθηση τροχιάς προς το τελικό σημείο (66), αναγνώρισης περιβάλλοντος (37,64) και αποφυγής του (59) Με έναυσμα τις πρόσφατες εξελίξεις στην νανοτεχνολογία [1,2,3,4,5] και συγκεκριμένα στην κατασκευή Νάνο σωλήνων και Νάνο τυλιγμάτων [6,7,8,9], προτείνεται ένας μηχανισμός οδήγησης μικρορομποτικών συσκευών με νάνο καλώδια σε μια διάταξη μορφής τένοντα (Nano Wire-Driven Actuation Mechanism -NWDAM ).…”

Section: κατάλογος σχημάτωνunclassified

Μοντελοποίηση Και Έλεγχος Μίκρο/Νάνο Ρομποτικών Συστημάτων

Τσουκαλάς¹

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Η παρούσα διδακτορική διατριβή έχει ως κύριο αντικείμενο μελέτης την μοντελοποίηση και έλεγχο ενός μικρορομποτικού βραχίονα αναλυόμενου σε σφαιρικά πεπερασμένα στοιχεία σε περιβάλλον με εξωτερικές δυνάμεις Van Der Waals και συνυπολογίζοντας την τριβή. Τα κύρια σημεία είναι η εισαγωγή των εξωτερικών δυνάμεων στο μοντέλο του μικρορομπότ, η δημιουργία προσαρμοστικού ελέγχου για την επίτευξη ακολουθίας τροχιάς με αναγνώριση και ακύρωση των ισχυρών μεταβαλλόμενων εξωτερικών δυνάμεων, η αναγνώριση της θέσης και η αποφυγή εμποδίων σε άγνωστο περιβάλλον κλίμακας μικρομέτρων και ο καθορισμός τροχιάς για προσέγγιση σημείων στον χώρο εργασίας του μικρορομπότ. Προτείνεται επίσης ένα σύστημα επενέργησης σε διάταξη τένοντα με νανοκαλώδια και γίνεται μελέτη της αντοχής του σε σχέση με τις μέγιστες δυνάμεις-ροπές που παρουσιάζονται κατά τον έλεγχο. Για την αναγνώριση των εξωτερικών δυνάμεων δοκιμάζονται διαφορετικά είδη εκτιμητών και εξετάζεται η απόδοσή τους στο συνολικό σύστημα. - See more at: http://nemertes.lis.upatras.gr/jspui/handle/10889/5706#sthash.ibBNTqWx.dpuf

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Real-time collision avoidance for a redundant manipulator in an unstructured environment

Cited by 10 publications

References 3 publications

A 3-Dimensional Force Field Method for Robot Collision Avoidance in Complex Environment

A 3-Dimensional Force Field Method for Robot Collision Avoidance in Complex Environment

Force strategies for on-line obstacle avoidance for redundant manipulators

Μοντελοποίηση Και Έλεγχος Μίκρο/Νάνο Ρομποτικών Συστημάτων

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