A New Pseudoinverse for Manipulator Collision Avoidance

Abstract This paper presents a control system architecture for robot manipulator suitable for on line path planning in a cluttered environment. The proposed technique fits for both redundant and non redundant manipulators. We use potential fields in order to control the joint velocities to make the manipulator escape from obstacles. We also propose a new weighted pseudoinverse matrix that improves the manipulator capability to find feasible paths moving around obstacles and passing through narrow corridors without calculating the manipulator mass matrix. The proposed solution is tested on two manipulators: a 7 degree-of-freedom (DOF) planar manipulator and a 7 degree-of-freedom spatial manipulator both moving in a cluttered environment.

[1]  Véronique Perdereau,et al.  Real-time control of redundant robotic manipulators for mobile obstacle avoidance , 2002, Robotics Auton. Syst..

[2]  Antonio Visioli,et al.  A GAIN SCHEDULING APPROACH FOR HYBRID FORCE/VELOCITY CONTROLLED ROBOT CONTOUR TRACKING , 2005 .

[3]  Pradeep K. Khosla,et al.  Real-time obstacle avoidance using harmonic potential functions , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[4]  Sadao Kawamura,et al.  Fast path planning available for moving obstacle avoidance by use of Laplace potential , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

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

[6]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[7]  Dong-Soo Kwon,et al.  A sensor-based obstacle avoidance for a redundant manipulator using a velocity potential function , 1996, Proceedings 5th IEEE International Workshop on Robot and Human Communication. RO-MAN'96 TSUKUBA.

[8]  Huanling Wang,et al.  Path planning research and simulation of planar 3R redundant robot , 2009, 2009 4th IEEE Conference on Industrial Electronics and Applications.

[9]  Hiroshi Tanaka,et al.  On-line Optimization of Avoidance Ability for Redundant Manipulator , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Tomás Lozano-Pérez,et al.  Spatial Planning: A Configuration Space Approach , 1983, IEEE Transactions on Computers.

[11]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[12]  Pradeep K. Khosla,et al.  Manipulator control with superquadric artificial potential functions: theory and experiments , 1990, IEEE Trans. Syst. Man Cybern..

[13]  Kaspar Althoefer,et al.  Fuzzy Navigation for Robotic Manipulators , 1998, Int. J. Uncertain. Fuzziness Knowl. Based Syst..

[14]  Oussama Khatib,et al.  Dynamic control of manipulator in operational space , 1983 .

[15]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.