Real-time collision avoidance for 7-DOF arms

The paper presents experimental results that demonstrate a new approach to real-time collision avoidance for 7-DOF arms. The collision avoidance problem is formulated and solved as a force control problem. Virtual forces opposing intrusion of the arm into the obstacle safety zone are computed in real time. These forces are then nullified by employing an outer feedback loop which perturbs the arm Cartesian commands for the inner position control system. The approach is implemented and tested on a 7-DOF RRC arm and a set of experiments are conducted in the laboratory. These experiments demonstrate perturbation of the end-effector position and orientation, as well as the arm configuration, in order to avoid impending collisions The approach is simple, computationally fast, requires minimal modification to the arm control system, and applies to whole-arm collision avoidance.

[1]  Homayoun Seraji,et al.  Motion control of 7-DOF arms: the configuration control approach , 1993, IEEE Trans. Robotics Autom..

[2]  Homayoun Seraji,et al.  Real-time collision avoidance for redundant manipulators , 1995, IEEE Trans. Robotics Autom..

[3]  Wyatt S. Newman,et al.  A fast, on-line collision avoidance method for a kinematically redundant manipulator based on reflex control , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[4]  Homayoun Seraji,et al.  On-line collision avoidance for the Ranger telerobotic flight experiment , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[5]  Homayoun Seraji,et al.  A real-time control system for a mobile dexterous 7 DOF arm , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[6]  Homayoun Seraji,et al.  Sensor-based collision avoidance: Theory and experiments , 1996, J. Field Robotics.

[7]  A. A. Maciejewski,et al.  Obstacle Avoidance , 2005 .

[8]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[9]  Homayoun Seraji,et al.  Real-time model-based obstacle detection for the NASA Ranger Telerobot , 1997, Proceedings of International Conference on Robotics and Automation.

[10]  C. L. Boddy,et al.  Whole-arm reactive collision avoidance control of kinematically redundant manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.