In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s motion; it is based on the potential fields method combined with a smoothing process realized by means of interpolation with Bezier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A new term is introduced in the control law to take into account the speed of the obstacles as well as their position. Simulations on a simplified planar case are presented to assess the validity of the algorithms and to estimate the computational effort in order to verify the transferability of our approach to a real system.

A collision avoidance strategy for redundant manipulators in dynamically variable environments: On-line perturbations of off-line generated trajectories / Scoccia, C.; Palmieri, G.; Palpacelli, M. C.; Callegari, M.. - In: MACHINES. - ISSN 2075-1702. - ELETTRONICO. - 9:2(2021), pp. 1-16. [10.3390/machines9020030]

A collision avoidance strategy for redundant manipulators in dynamically variable environments: On-line perturbations of off-line generated trajectories

Scoccia C.
Primo
Investigation
;
Palmieri G.
Secondo
Conceptualization
;
Palpacelli M. C.
Penultimo
Formal Analysis
;
Callegari M.
Ultimo
Methodology
2021-01-01

Abstract

In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s motion; it is based on the potential fields method combined with a smoothing process realized by means of interpolation with Bezier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A new term is introduced in the control law to take into account the speed of the obstacles as well as their position. Simulations on a simplified planar case are presented to assess the validity of the algorithms and to estimate the computational effort in order to verify the transferability of our approach to a real system.
2021
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/289865
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 20
  • ???jsp.display-item.citation.isi??? 15
social impact