A line-based obstacle avoidance technique for dexterous manipulator operations

Cameras are often used for visual servoing or realtime mapping of the external environment in both autonomous and teleoperated tasks with a dexterous manipulator. Nominal operations will likely produce manipulator configurations that occlude the line-of-sight from the camera to a target of interest. In this paper, a technique is developed that treats the camera line-of-sight as a virtual obstacle in order to prevent camera occlusion. The approach is based on using virtual point charges to represent obstacles and using the self-motion of the arm to avoid collisions. The approach is demonstrated on the Ranger Dexterous Manipulator.

[1]  Homayoun Seraji,et al.  Experiments in real-time collision avoidance for dexterous 7-DOF arms , 1997, Proceedings of International Conference on Robotics and Automation.

[2]  Michael Pearson Naylor.  Autonomous Target Recognition and Localization for Manipulator Sampling Tasks , 2006 .

[3]  K. Kreutz-Delgado,et al.  Kinematic Analysis of 7-DOF Manipulators , 1992 .

[4]  Neville Hogan,et al.  Integrable Solutions of Kinematic Redundancy via Impedance Control , 1991, Int. J. Robotics Res..

[5]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .

[6]  Craig R. Carignan,et al.  A partitioned redundancy management scheme for an eight-joint revolute manipulator , 2000, J. Field Robotics.

[7]  Ella M. Atkins,et al.  The Ranger Robotic Satellite Servicer and Its Autonomous Software-Based Safety System , 2004, IEEE Intell. Syst..

[8]  Rajni V. Patel,et al.  A collision-avoidance scheme for redundant manipulators: Theory and experiments: Research Articles , 2005 .

[9]  Lydia Tapia,et al.  C-space Subdivision and Integration in Feature-Sensitive Motion Planning , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[10]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part III—Applications , 1985 .

[11]  Craig R. Carignan,et al.  A skew-axis design for a 4-joint revolute wrist , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[12]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[13]  John H. Reif,et al.  Complexity of the mover's problem and generalizations , 1979, 20th Annual Symposium on Foundations of Computer Science (sfcs 1979).

[14]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[15]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[16]  Ella M. Atkins,et al.  Toward Autonomous Sampling and Servicing with the Ranger Dexterous Manipulator , 2005 .

[17]  Vijay Kumar,et al.  On singular behaviors of impedance-based repeatable control for redundant robots , 2001, J. Field Robotics.

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

[19]  Tomás Lozano-Pérez,et al.  An algorithm for planning collision-free paths among polyhedral obstacles , 1979, CACM.

[20]  Jen-Hui Chuang,et al.  Potential-based path planning for robot manipulators , 2005, J. Field Robotics.

[21]  Howie Choset,et al.  Sensor-based Planning for Planar Multi-Convex Rigid Bodies , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[22]  David Wettergreen,et al.  Real‐Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels , 2007, J. Field Robotics.

[23]  Sukhan Lee,et al.  Reference adaptive impedance control and its application to obstacle avoidance trajectory planning , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

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

[25]  Chau-Chang Wang,et al.  A motion control and obstacle avoidance algorithm for hyper-redundant manipulators , 1998, Proceedings of 1998 International Symposium on Underwater Technology.

[26]  Audra E. Kosh,et al.  Linear Algebra and its Applications , 1992 .

[27]  Rajnikant V. Patel,et al.  A collision-avoidance scheme for redundant manipulators: Theory and experiments , 2005, J. Field Robotics.

[28]  Homayoun Seraji,et al.  Configuration control of redundant manipulators: theory and implementation , 1989, IEEE Trans. Robotics Autom..

[29]  John Canny,et al.  The complexity of robot motion planning , 1988 .