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

Tutkimustuotosvertaisarvioitu

Standard

Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance. / Kivelä, Tuomo; Mattila, Jouni; Puura, Jussi; Launis, Sirpa.

Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. toim. / Carlo Ferraresi; Giuseppe Quaglia. Springer International Publishing, 2017. s. 208-216 (Mechanisms and Machine Science; Vuosikerta 49).

Tutkimustuotosvertaisarvioitu

Harvard

Kivelä, T, Mattila, J, Puura, J & Launis, S 2017, Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance. julkaisussa C Ferraresi & G Quaglia (toim), Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Mechanisms and Machine Science, Vuosikerta. 49, Springer International Publishing, Sivut 208-216, 1/01/00. https://doi.org/10.1007/978-3-319-61276-8_24

APA

Kivelä, T., Mattila, J., Puura, J., & Launis, S. (2017). Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance. teoksessa C. Ferraresi, & G. Quaglia (Toimittajat), Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 (Sivut 208-216). (Mechanisms and Machine Science; Vuosikerta 49). Springer International Publishing. https://doi.org/10.1007/978-3-319-61276-8_24

Vancouver

Kivelä T, Mattila J, Puura J, Launis S. Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance. julkaisussa Ferraresi C, Quaglia G, toimittajat, Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Springer International Publishing. 2017. s. 208-216. (Mechanisms and Machine Science). https://doi.org/10.1007/978-3-319-61276-8_24

Author

Kivelä, Tuomo ; Mattila, Jouni ; Puura, Jussi ; Launis, Sirpa. / Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance. Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Toimittaja / Carlo Ferraresi ; Giuseppe Quaglia. Springer International Publishing, 2017. Sivut 208-216 (Mechanisms and Machine Science).

Bibtex - Lataa

@inproceedings{4583e96ccc9341ebb43250296de812a9,
title = "Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance",
abstract = "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.",
keywords = "Collision avoidance, Real-time control, Redundant, Robotic manipulator",
author = "Tuomo Kivel{\"a} and Jouni Mattila and Jussi Puura and Sirpa Launis",
note = "jufoid=77016 EXT={"}Launis, Sirpa{"}",
year = "2017",
month = "6",
day = "21",
doi = "10.1007/978-3-319-61276-8_24",
language = "English",
isbn = "978-3-319-61276-8",
series = "Mechanisms and Machine Science",
publisher = "Springer International Publishing",
pages = "208--216",
editor = "Carlo Ferraresi and Giuseppe Quaglia",
booktitle = "Advances in Service and Industrial Robotics",

}

RIS (suitable for import to EndNote) - Lataa

TY - GEN

T1 - Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance

AU - Kivelä, Tuomo

AU - Mattila, Jouni

AU - Puura, Jussi

AU - Launis, Sirpa

N1 - jufoid=77016 EXT="Launis, Sirpa"

PY - 2017/6/21

Y1 - 2017/6/21

N2 - 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.

AB - 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.

KW - Collision avoidance

KW - Real-time control

KW - Redundant

KW - Robotic manipulator

U2 - 10.1007/978-3-319-61276-8_24

DO - 10.1007/978-3-319-61276-8_24

M3 - Conference contribution

SN - 978-3-319-61276-8

T3 - Mechanisms and Machine Science

SP - 208

EP - 216

BT - Advances in Service and Industrial Robotics

A2 - Ferraresi, Carlo

A2 - Quaglia, Giuseppe

PB - Springer International Publishing

ER -