Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Contribution to control of redundant robotic manipulators in an environment withobstacles
International Journal of Robotics Research
Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Compensation of velocity and/or acceleration joint saturation applied to redundant manipulator
Robotics and Autonomous Systems
Resolve redundancy with constraints for obstacle and singularity avoidance subgoals
International Journal of Robotics and Automation
Behaviour generation in humanoids by learning potential-based policies from constrained motion
Applied Bionics and Biomechanics
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We present an efficient obstacle avoidance control algorithm for redundant manipulators using a new measure called collidability measure. Considering moving directions of manipulator links, the collidability measure is defined as the sum of inverse of predicted collision distances between links and obstacles: This measure is suitable for obstacle avoidance since directions of moving links are as important as distances to obstacles. For kinematic or dynamic redundancy resolution, null space control is utilized to avoid obstacles by minimizing the collidability measure: We present a velocity-bounded kinematic control law which allows reasonably large gains to improve the system performance. Also, by clarifying decomposition in the joint acceleration level, we present a simple dynamic control law with bounded joint torques which guarantees tracking of a given end-effector trajectory and improves a kinematic cost function such as collidability measure. Simulation results are presented to illustrate the effectiveness of the proposed algorithm.