TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoAdvances in Service and Industrial Robotics
AlaotsikkoProceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
ToimittajatCarlo Ferraresi, Giuseppe Quaglia
KustantajaSpringer International Publishing
Sivut208-216
Sivumäärä9
ISBN (painettu)978-3-319-61276-8
DOI - pysyväislinkit
TilaJulkaistu - 21 kesäkuuta 2017
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaInternational Conference on Robotics in Alpe-Adria Danube Region -
Kesto: 1 tammikuuta 2000 → …

Julkaisusarja

NimiMechanisms and Machine Science
Vuosikerta49
ISSN (painettu)2211-0984
ISSN (elektroninen)2211-0992

Conference

ConferenceInternational Conference on Robotics in Alpe-Adria Danube Region
Ajanjakso1/01/00 → …

Tiivistelmä

This paper presents a method to generate joint trajectories for a redundant manipulator. The control system of the manipulator determines the joint references so that the goal pose can be reached without any collisions, in real-time. The control system checks weather any part of the manipulator is at risk of colliding with itself or with any obstacles. If there is a risk of collision, then the collision server computes the exact points where the collision is about to happen and calculates the shortest distance between the colliding objects. The joint trajectories of the manipulator are modified so that collisions will be avoided while at the same time, the trajectory of the end-effector maintains its initial trajectory if possible. Experimental results are given for a 7 DOF redundant manipulator to demonstrate the capability of the collision avoidance control system.

Tutkimusalat

Julkaisufoorumi-taso