Kinematic control algorithms for on-line obstacle avoidance for redundant manipulators

2003 ◽  
Author(s):  
L. Zlajpah ◽  
B. Nemec
Keyword(s):  
Obstacle Avoidance ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Kinematic Control ◽  
On Line

Fractional Order Dynamics in the Trajectory Planning of Redundant and Hyper-Redundant Manipulators

2003 ◽  
Author(s):  
Fernando B. M. Duarte ◽  
J. A. Tenreiro Machado
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
Trajectory Planning ◽  
Free Space ◽  
Trajectory Optimization ◽  
Generalized Inverse ◽  
Resolution Of Singularities ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Kinematic Control

Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the pseudoinverse-based trajectory planning algorithms, using the theory of fractional calculus.

Comparison of Damped Velocity and Acceleration Control for Non-Redundant Manipulators

2000 ◽  
Author(s):  
Yu-Che Chen ◽  
Kevin A. O’Neil
Keyword(s):  
Path Tracking ◽  
Least Square ◽  
Dynamics Simulation ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Velocity Control ◽  
Redundant Manipulator ◽  
Singular Configurations ◽  
On Line ◽  
Simulation Results

Abstract Damped Least Square (DLS) method has been widely used as an on-line algorithm for manipulator path tracking near and at singular configurations. Wampler (1986) formulated the framework of DLS method applied to velocity control and addressed the applicability of DLS method to acceleration control. The purpose of this paper is to demonstrate the differences in the joint paths generated by damped velocity and damped acceleration control algorithms in non-redundant manipulators. We examine these joint paths, find the cause of the differences, and demonstrate the features of damped acceleration control in non-redundant manipulator dynamics. Simulation results on a planar 2R and a spatial 6R manipulator moving through and near singular configurations verify the phenomena analyzed.

Performance Analysis for First-Order Configuration Prediction for Redundant Manipulators Based on Avoidance Manipulability

2014 ◽  
Vol 18 (3) ◽  
pp. 443-450
Author(s):  
Akira Yanou ◽  
◽  
Yang Hou ◽  
Mamoru Minami ◽  
Yosuke Kobayashi
Keyword(s):  
Obstacle Avoidance ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Current Configuration ◽  
First Order ◽  
Target Trajectory ◽  
Tracking Process ◽  
On Line

This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators’ future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with predictive control using redundant manipulator, and show the results through simulations. The effectiveness of predictive control using first-order configuration prediction is also validated in the case of not only straight target trajectory but also curve target trajectory. In addition, an influence of measurement noise on manipulator’s joint angle is newly considered.

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