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End-effector obstacle avoidance using multiple dynamic variables

  • Generating flexible collision-free reaching move- ments is a standard task for autonomous articulated robots that is critical especially when such systems interact with humans in a service robotics setting. Current solutions are still challenging to put into practice. Here we generalize an approach first used to plan end-effector movement that is based on attractor dynamical systems. We show, how different contributions to the motion planning dynamics can be formulated in constraint- specific reference frames and then transformed into the frame of the joint velocity vector. We implement this system on an 8 DoF redundant manipulator and show its feasibility in a simulation. A systematic experiment with randomly generated obstacle scenes characterizes the performance of the system. Especially challenging confi gurations of obstacles are discussed to illustrate how the method solves these cases

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Author:Hendrik Reimann, Ioannis Iossifidis, Gregor Schöner
URL:https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5756798 /
Place of publication:Munich, Germany
Document Type:Conference Proceeding
Year of Completion:2010
Release Date:2019/04/25
Page Number:6
First Page:206
Last Page:211
Institutes:Fachbereich 1 - Institut Informatik
DDC class:000 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):License LogoNo Creative Commons