scholarly journals Cooperative Transporting Control for Two Redundant Manipulators and One Human (A Method of Obstacle Avoidance Utilizing Kinematic Redundancy)

2013 ◽  
Vol 79 (808) ◽  
pp. 4734-4745 ◽  
Author(s):  
Masafumi HAMAGUCHI ◽  
Takao TANIGUCHI
Keyword(s):  
Obstacle Avoidance ◽  
Redundant Manipulators ◽  
Kinematic Redundancy

Redundancy utilization for obstacle avoidance of planar robot manipulators

1997 ◽  
Vol 211 (6) ◽  
pp. 463-475 ◽  
Author(s):  
U Sezgin ◽  
L D Seneviratne ◽  
S W E Earles
Keyword(s):  
Obstacle Avoidance ◽  
Computer Simulations ◽  
Redundant Manipulators ◽  
Control Points ◽  
Kinematic Redundancy ◽  
End Effector ◽  
Revolute Joints ◽  
Planar Robot ◽  
And Control ◽  
Configuration Control

Two obstacle avoidance criteria are developed, utilizing the kinematic redundancy of serial redundant manipulators having revolute joints and tracking pre-determined end effector paths. The first criterion is based on the instantaneous distances between certain selected points along the manipulator, called configuration control points (CCP), and the vertices of the obstacles. The optimized joint configurations are obtained by maximizing these distances. Thus, the links of the manipulator are configured away from the obstacles. The second criterion uses a different approach, and is based on Voronoi boundaries representing the equidistant paths between two obstacles. The optimized joint configurations are obtained by minimizing the distances between the CCP and control points selected on the Voronoi boundaries. The validities of the criteria are demonstrated through computer simulations.

scholarly journals An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Masafumi Hamaguchi ◽  
Takao Taniguchi
Keyword(s):  
Angular Velocity ◽  
Obstacle Avoidance ◽  
Impedance Control ◽  
Kinematic Redundancy ◽  
End Effector ◽  
Rate Vector

An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments.

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