Obstacle avoidance control for redundant manipulators using collidability measure
Obstacle avoidance control for redundant manipulators using collidability measure
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DOI：
10.1109/iros.1999.811742
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发表时间：
1999-10
期刊：
影响因子：
--
通讯作者：
S. Choi;B. Kim
中科院分区：
文献类型：
--
作者：
S. Choi;B. Kim
针对冗余度机器人的避障控制问题，提出了一种可碰撞性测度。考虑到机械臂连杆的运动方向，可碰撞性度量被定义为连杆与障碍物之间的预测碰撞距离之和的倒数。该措施适用于避障控制，因为移动连杆的方向与到障碍物的距离一样重要。对于动态冗余解决方案，零空间控制，以避免障碍物，通过最小化的碰撞性措施。此外，通过澄清分解的联合加速度水平，我们提出了一个简单的动态控制律与有界的联合力矩，保证跟踪给定的末端执行器轨迹，并提高了运动学成本函数，如碰撞性措施。仿真结果表明了该算法的有效性。
We present a measure called collidability measure for obstacle avoidance control of redundant manipulators. Considering moving directions of manipulator links, the collidability measure is defined as the inverse of sum of predicted collision distances between links and obstacles. This measure is suitable for obstacle avoidance control since directions of moving links are as important as distances to obstacles. For dynamic redundancy resolution, null space control is utilized to avoid obstacles by minimizing the collidability measure. 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.