Self-collision Avoidance Trajectory Planning and Robust Control of a Dual-arm Space Robot

Liu, Yicheng; Yu, Chunxiao; Sheng, Jingyuan; Zhang, Tao

doi:10.1007/s12555-017-0757-z

Cited by 23 publications

(8 citation statements)

References 19 publications

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“…5) are described as follows: q q q q q q q q q q q q Net ANN Q  . (11) ]. We will train the considered neural networks (Section IV) using the backpropagation method on the obtained training data set to detect a possible self-collision of the SAR-401 robot manipulators.…”

Section: Neural Network Configurationmentioning

confidence: 99%

“…In particular, for robots with several manipulators, there is a danger that manipulators will collide with each other. Such collisions are called self-collisions [7][8][9][10][11]. For robots with a copy-type control, the self-collisions control problem falls on the operator.…”

Section: Introductionmentioning

confidence: 99%

“…Vadim Kramar, Self-Collision Avoidance Control of Dual-Arm Multi-Link Robot Using Neural Network Approach and the search of the coordinates and their combinations at which these critical positions arise [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24]. In [7], the authors presented a solution of the problem of two manipulators motion control using a constraint-based programming approach, which was used to generate online motion plans.…”

Section: Introductionmentioning

confidence: 99%

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

Kramar

Kabanov

2022

Journal of Robotics and Control

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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.

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Section: Neural Network Configurationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Kramar

Kabanov

2022

Journal of Robotics and Control

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“…But only a portion of the singularity-free workspace will be useful if regions of self-interference of the links are filtered out. Throughout the literature, various approaches are reported to detect self-interference of robotic manipulators, such as geometrical methods, 21 methods based on interval analyses, 22 methods based on danger fields, 23 using Oriented Bounding Boxes (OBB) 24 and so on.…”

Section: Introductionmentioning

confidence: 99%

Numerical investigations, development and control of a cartesian (3-PRRR) parallel manipulator

John

Mohan

Rybak

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper focusses on the development of a Cartesian parallel manipulator (CPM) having multiple limb assembly configurations. An optimal configuration of the 3-PRRR CPM is identified after analysing the interference-free workspace of various limb assembly conditions, where each leg comprises an active prismatic joint followed by three revolute joints. The validation of the link interference detection algorithm is carried out using a virtual prototype. The Euler–Lagrange dynamic modelling of the CPM is validated using one of the well-known multi-body simulation packages namely, ADAMS. The paper proposes a detailed design and performance analyses of a motion controller for the proposed manipulator, based on a finite-time sliding mode scheme. A Graphical User Interface (GUI) is also developed using the MATLAB App Designer, which ensures easier and intuitive synthesis of the CPM. The development of an in-house functional prototype is also presented in this work.

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“…Besides, the topic of Industry 4.0 has become popular among many companies, research centers, and universities. The transition to industry 4.0, the rise of unmanned and smart factories, smart production, and machineto-machine and advanced manufacturing have greatly increased the need for co-working robots, and so that this situation has made robots with a certain degree of independence more attractive [1,2,3,4,5,6]. Also, robotic systems have become indispensable for the military as well.…”

Section: Introductionmentioning

confidence: 99%

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Yerlikaya

Balkan

2021

Robotica

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Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

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Self-collision Avoidance Trajectory Planning and Robust Control of a Dual-arm Space Robot

Cited by 23 publications

References 19 publications

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

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

Numerical investigations, development and control of a cartesian (3-PRRR) parallel manipulator

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

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