Redundancy utilization for obstacle avoidance of planar robot manipulators

U. Sezgin; L. D. Seneviratne; S. W.E. Earles

doi:10.1243/0954406971521863

Redundancy utilization for obstacle avoidance of planar robot manipulators

U. Sezgin, L. D. Seneviratne, S. W.E. Earles

Mechanical & Nuclear Engineering

King's College London

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

Two obstacle avoidance criteria are developed, utilizing the kinematic redundancy of serial redundant manipulators having revolute joints and tracking pre-determined end effector paths. The first criterion is based on the instantaneous distances between certain selected points along the manipulator, called configuration control points (CCP), and the vertices of the obstacles. The optimized joint configurations are obtained by maximizing these distances. Thus, the links of the manipulator are configured away from the obstacles. The second criterion uses a different approach, and is based on Voronoi boundaries representing the equidistant paths between two obstacles. The optimized joint configurations are obtained by minimizing the distances between the CCP and control points selected on the Voronoi boundaries. The validities of the criteria are demonstrated through computer simulations.

Original language	British English
Pages (from-to)	463-475
Number of pages	13
Journal	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume	211
Issue number	6
DOIs	https://doi.org/10.1243/0954406971521863
State	Published - 1997

Keywords

Configuration optimization
Obstacle avoidance
Redundancy resolution
Redundant manipulators

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10.1243/0954406971521863

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AU - Sezgin, U.

AU - Seneviratne, L. D.

AU - Earles, S. W.E.

PY - 1997

Y1 - 1997

N2 - Two obstacle avoidance criteria are developed, utilizing the kinematic redundancy of serial redundant manipulators having revolute joints and tracking pre-determined end effector paths. The first criterion is based on the instantaneous distances between certain selected points along the manipulator, called configuration control points (CCP), and the vertices of the obstacles. The optimized joint configurations are obtained by maximizing these distances. Thus, the links of the manipulator are configured away from the obstacles. The second criterion uses a different approach, and is based on Voronoi boundaries representing the equidistant paths between two obstacles. The optimized joint configurations are obtained by minimizing the distances between the CCP and control points selected on the Voronoi boundaries. The validities of the criteria are demonstrated through computer simulations.

AB - Two obstacle avoidance criteria are developed, utilizing the kinematic redundancy of serial redundant manipulators having revolute joints and tracking pre-determined end effector paths. The first criterion is based on the instantaneous distances between certain selected points along the manipulator, called configuration control points (CCP), and the vertices of the obstacles. The optimized joint configurations are obtained by maximizing these distances. Thus, the links of the manipulator are configured away from the obstacles. The second criterion uses a different approach, and is based on Voronoi boundaries representing the equidistant paths between two obstacles. The optimized joint configurations are obtained by minimizing the distances between the CCP and control points selected on the Voronoi boundaries. The validities of the criteria are demonstrated through computer simulations.

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KW - Redundancy resolution

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Redundancy utilization for obstacle avoidance of planar robot manipulators

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Keywords

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