Real-time control of redundant robotic manipulators for mobile obstacle avoidance

V. Perdereau, C. Passi, M. Drouin
2002 Robotics and Autonomous Systems  
This paper offers an efficient solution for the real-time operation of a redundant robot moving in a variable environment. An approach for fixed and mobile obstacle avoidance is proposed. The basic idea is to solve the redundancy as an unconstrained optimization problem where the redundancy is integrated with the path tracking and the obstacle avoidance constraints into an augmented objective function. Here, an iterative solution of the Inverse Geometric Model (IGM) is used, which requires no
more » ... trix inversion and iterates directly on the joint position, being thus suitable for on-line application and also preserving repeatability. A method of formulating anti-collision constraints using a novel concept of pseudo-distance unifies in a simple and original way the modeling of various obstacles. : S 0 9 2 1 -8 8 9 0 ( 0 2 ) 0 0 2 7 4 -9 J 12 = − l 2 sin(q 1 + q 2 ) − l 3 sin(q 1 + q 2 + q 3 ) − l 4 sin(q 1 + q 2 + q 3 + q 4 ), J 13 = − l 3 sin(q 1 + q 2 + q 3 ) − l 4 sin(q 1 + q 2 + q 3 + q 4 ), J 14 = − l 4 sin(q 1 + q 2 + q 3 + q 4 ), J 21 = l 1 cos(q 1 ) + l 2 cos(q 1 + q 2 ) + l 3 cos(q 1 + q 2 + q 3 ) + l 4 cos(q 1 + q 2 + q 3 + q 4 ), J 22 = l 2 cos(q 1 + q 2 ) + l 3 cos(q 1 + q 2 + q 3 ) + l 4 cos(q 1 + q 2 + q 3 + q 4 ), J 23 = l 3 cos(q 1 + q 2 + q 3 ) + l 4 cos(q 1 + q 2 + q 3 + q 4 ), J 24 = l 4 cos(q 1 + q 2 + q 3 + q 4 ). (3) Null space matrix N T = N 11 N 12 N 13 N 14
doi:10.1016/s0921-8890(02)00274-9 fatcat:eysakxtfg5galfmyyxpehab4pu