Obstacle avoidance algorithm for 7-DOF redundant anthropomorphic arm

DOI10.1155/2015/540259MaRDI QIDQ892525zbMATH OpenOpenAlexWikidataFDO

Authors Haoyu Shen, Bai Chen, Yanjie Jiang, Cheng Yan, Hongtao Wu

Publication date 19 November 2015

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2015/540259

zbMATH Keywords

7-DOF redundant anthropomorphic armobstacle avoidanceredundant robotstarget configuration

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: To deal with the problem of obstacle avoidance for redundant robots, an obstacle avoidance algorithm based on the internal motion of the 7-DOF redundant anthropomorphic arm is presented. The motion of that critical points move away from the closest points on the obstacles is defined as obstacle avoiding motion. Two transitioning variables are used to make a smooth, continuous transition between the primary and the secondary tasks. Using this approach, the robot can get the target configuration while avoiding the obstacles. Finally, the validity of the obstacle avoidance algorithm based on transitioning between tasks is manifested by simulation. The results show that, for the obstacle avoiding problem, the redundant robot not only can realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.

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Cites work

• A collision-avoidance scheme for redundant manipulators: Theory and experiments
• Joint trajectory generation for redundant robots in an environment with obstacles
• Obstacle avoidance for redundant robots using configuration control

Cited in

(5)

• Evaluation of head-collision safety of a 7-DOF manipulator according to posture variation
• scientific article; zbMATH DE number 6612027 (Why is no real title available?)
• Obstacle avoidance for redundant robots using configuration control
• Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints
• Velocity obstacle-based trajectory planner for anthropomorphic arms

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