Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control. 1st Report. Use of Path Planning by Penalty Method.

1996 ◽  
Vol 62 (601) ◽  
pp. 3543-3550 ◽  
Author(s):  
Mamoru MINAMI ◽  
Yoshihiro NOMURA ◽  
Toshiyuki ASAKURA
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Penalty Method ◽  
Redundant Manipulators ◽  
Preview Control ◽  
Avoidance Control ◽  
Unknown Objects

Obstacle avoidance control for 7-DOF redundant manipulators

2013 ◽  
Vol 21 (7) ◽  
pp. 1795-1802 ◽  
Author(s):  
姜力 JIANG Li ◽  
周扬 ZHOU Yang ◽  
孙奎 SUN Kui ◽  
刘宏 LIU Hong
Keyword(s):  
Obstacle Avoidance ◽  
Redundant Manipulators ◽  
Avoidance Control

scholarly journals Discrete-time predictive trajectory tracking control for nonholonomic mobile robots with obstacle avoidance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987731
Author(s):  
Jingjun Zhang ◽  
Shaobo Zhang ◽  
Ruizhen Gao
Keyword(s):  
Obstacle Avoidance ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Law ◽  
Nonholonomic Mobile Robots ◽  
Trajectory Tracking Control ◽  
Time Model ◽  
Control Approach ◽  
Avoidance Control

This article presents a tracking control approach with obstacle avoidance for a mobile robot. The control law is composed of two parts. The first is a discrete-time model predictive method-based trajectory tracking control law that is derived using an optimal quadratic algorithm. The second part is the obstacle avoidance strategies that switch according to two different designed obstacle avoidance regions. The controllability of the avoidance control law is analyzed. The simulation results validate the effectiveness of the proposed control law considering both trajectory tracking and obstacle avoidance.

Obstacle avoidance control for redundant manipulators using collidability measure

Robotica ◽  
2000 ◽  
Vol 18 (2) ◽  
pp. 143-151 ◽  
Author(s):  
Su Il Choi ◽  
Byung Kook Kim
Keyword(s):  
Obstacle Avoidance ◽  
Control Algorithm ◽  
Null Space ◽  
Control Law ◽  
Redundant Manipulators ◽  
Redundancy Resolution ◽  
End Effector ◽  
Joint Torques ◽  
Avoidance Control ◽  
Joint Acceleration

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.

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