Self-Collision Avoidance Control of Dual-Arm Multi-Link Robot Using Neural Network Approach

Abstract

The problem of mutual collisions of manipulators of a dual-arm multi-link robot (so-called self-collisions) arises during the performance of a cooperative technological operation. Self-collisions can lead to non-fulfillment of the technological operation or even to the failure of the manipulators. In this regard, it is necessary to develop a method for online detection and avoidance of self-collisions of manipulators. The article presents a method for detecting and avoiding self-collisions of multi-link manipulators using an artificial neural network by the example of the dual-arm robot SAR-401. A comparative analysis is carried out and the architecture of an artificial neural network for self-collisions avoidance control of dual-arm robot manipulators is proposed. The novelty of the proposed approach lies in the fact that it is an alternative to the generally accepted methods of detecting self-collisions based on the numerical solution of inverse kinematics problems for manipulators in the form of nonlinear optimization problems. Experimental results performed based on MATLAB model, the simulator of the robot SAR-401 and on the real robot itself confirmed the applicability and effectiveness of the proposed approach. It is shown that the detection of possible self-collisions using the proposed method based on an artificial neural network is performed approximately 10 times faster than approaches based on the numerical solution of the inverse kinematics problem while maintaining the specified accuracy.

Multi Cost Function Fuzzy Stereo Matching Algorithm for Object Detection and Robot Motion Control

“…This is estimated by generating the disparity map for each stereo image pair and carrying out checks to determine if there are any variations in the results. If it is concluded that there has been any form of motion, the latest pose of the robot is calculated, i.e., the co-ordinates after the detected motion and check for any new points of interest (landmarks) [93][94][95]. This is accomplished by making use of the calculated disparity map and identifying new points of interest.…”

Neural Network Method of Controlling Self-Collisions of Multilink Manipulators Based on the Solution of the Classification Problem

“…As stated in [7,14], the manipulators of "Ichthiandr" or SAR-401 are considered. Let us briefly repeat the description of the manipulator geometry using Denavit-Hartenberg (DH) notation and methodology [27] (the parameters of the manipulator are given in Tables 1 and 2) and the kinematic diagram (Figure 4).…”

“…In [7,14], the Artificial Neural Networks (ANN) approach to the control of multilink manipulators was proposed. The methods based on the application of the ANN approaches allow unambiguously solving the IKP with a given accuracy and taking into account the constraints on the generalized coordinates of the multilink manipulator having excessive degrees of mobility.…”

“…When implementing copying control of manipulators [14], it is very likely that selfcollision of manipulators will occur (Figure 3).…”

“…When implementing copying control of manipulators [14], it is very likely that selfcollision of manipulators will occur (Figure 3). A number of methods additionally use sensors installed on manipulators [15,16].…”