Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators

  • Authors:

  • Luca Massimiliano Capisani;Tullio Facchinetti;Antonella Ferrara;Alessandro Martinelli

  • Affiliations:

  • Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy;Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy;Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy;Dipartimento di Ingegneria Industriale e dell'Informazione, University of Pavia, Pavia, Italy

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2013

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Abstract

Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly challenging when obstacles are present in the manipulator workspace. In this paper a n-joint planar robot manipulator is considered and it is assumed that obstacles located in its workspace can be approximated in a conservative way with circles. The goal is to represent the obstacles in the robot configuration space. The representation allows to obtain an efficient and accurate trajectory planning and tracking. A simple but effective path planning strategy is proposed in the paper. Since path planning depends on tracking accuracy, in this paper an adequate tracking accuracy is guaranteed by means of a suitably designed Second Order Sliding Mode Controller (SOSMC). The proposed approach guarantees a collision-free motion of the manipulator in its workspace in spite of the presence of obstacles, as confirmed by experimental results.