Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment

In this paper, we present an iterative kinematics control law for redundant manipulators overcoming some usual problems associated to cluttered environments (constraints violations, oscillations, environment dilatation). The Constraints Compliant Control approach relies on a passive avoidance scheme (no motion generation for constraints avoidance) on a limited number of constraints selected from a vicinity analysis. A solution scaling based on the feasible motions with respect to the constraints enables to reach the frontiers of the workspace. Two missions described as sequences of key frames are simulated to compare the performances of the Constraint Compliant Control with state of the art control laws. The obtained computation times remain acceptable to consider a use in real time.

[1]  Éric Marchand,et al.  A new redundancy-based iterative scheme for avoiding joint limits. Application to visual servoing , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Adi Ben-Israel,et al.  Generalized inverses: theory and applications , 1974 .

[3]  B. Faverjon,et al.  A local based approach for path planning of manipulators with a high number of degrees of freedom , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[4]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

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

[6]  Herman Bruyninckx,et al.  Open robot control software: the OROCOS project , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[7]  J. Meyer.  Generalized Inverses (Theory And Applications) (Adi Ben-Israel and Thomas N. E. Greville) , 1976 .

[8]  J. Trinkle,et al.  A Local Collision Avoidance Method for Non-strictly Convex Polyhedra , 2009 .

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

[10]  Vincent Padois,et al.  Evolutionary Design of a Robotic Manipulator for a Highly Constrained Environment , 2011 .

[11]  Oussama Khatib,et al.  Synthesis of Whole-Body Behaviors through Hierarchical Control of Behavioral Primitives , 2005, Int. J. Humanoid Robotics.

[12]  Ronan Boulic,et al.  An inverse kinematics architecture enforcing an arbitrary number of strict priority levels , 2004, The Visual Computer.

[13]  Olivier Sigaud,et al.  Control of redundant robots using learned models: An operational space control approach , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.