Obstacle Avoidance of a Class of Underactuated Robot Manipulators: GA based approach

This paper presents a practical collision-free motion planning method for general underactuated robot manipulators. First the dynamic properties of underactuated robot manipulator are analyzed, and then the collision avoidance problem is formulated and solved as a position-based force control problem. Virtual generalized force representing the intrusion of the arm into the obstacle dangerous zone is computed in real time using a virtual spring-damper model. The partly stable controllers are adopted and the energy based fitness function is built, then the best switching sequence of partly stable controllers is obtained by genetic algorithm. Because the proposed method does not make any hypothesis about the degree of freedom, it can be used without modification for arms with a large number of degree of freedom. At last numerical simulations are carried out to illuminate the validity of the proposed method.

[1]  Mitsuo Gen,et al.  Genetic algorithms and engineering optimization , 1999 .

[2]  Shingo Ando.  A fast collision-free path planning method for a general robot manipulator , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  Tsutomu Hasegawa,et al.  Collision avoidance: divide-and-conquer approach by space characterization and intermediate goals , 1988, IEEE Trans. Syst. Man Cybern..

[4]  Naoji Shiroma,et al.  Collision-Free Trajectory Planning for a 3-DoF Robot with a Passive Joint , 2000, Int. J. Robotics Res..

[5]  Keigo Watanabe,et al.  Control of underactuated robot manipulators using switching computed torque method: GA based approach , 2003, Soft Comput..

[6]  Yoshihiko Nakamura,et al.  Nonlinear behavior and control of a nonholonomic free-joint manipulator , 1997, IEEE Trans. Robotics Autom..

[7]  Mark W. Spong,et al.  Underactuated mechanical systems , 1998 .

[8]  Yangsheng Xu,et al.  Dynamic coupling of underactuated manipulators , 1995, Proceedings of International Conference on Control Applications.

[9]  Keigo Watanabe,et al.  Obstacle Avoidance of Three-DOF Underactuated Manipulator by Using Switching Computed Torque Method , 2002 .

[10]  Yangsheng Xu,et al.  Control of Cooperative Underactuated Manipulators: A Robustness Comparison Study , 1998 .

[11]  Giuseppe Oriolo,et al.  Steering a class of redundant mechanisms through end-effector generalized forces , 1998, IEEE Trans. Robotics Autom..

[12]  B. Donald.  Motion Planning with Six Degrees of Freedom , 1984 .