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Generating collision free reaching movements for redundant manipulators using dynamical systems

  • For autonomous robots to manipulate objects in unknown environments, they must be able to move their arms without colliding with nearby objects, other agents or humans. The simultaneous avoidance of multiple obstacles in real time by all link segments of a manipulator is still a hard task both in practice and in theory. We present a systematic scheme for the generation of collision free movements for redundant manipulators in scenes with arbitrarily many obstacles. Based on the dynamical systems approach to robotics, constraints are formulated as contributions to a dynamical system that erect attractors for targets and repellors for obstacles. These contributions are formulated in terms of variables relevant to each constraint and then transformed into vector fields over the manipulator joint velocity vector as an embedding space in which all constraints are simultaneously observed. We demonstrate the feasibility of the approach by implementing it on a real anthropomorphic 8-degrees-of-freedom redundant manipulator. In addition, performance is characterized by detecting failures in a systematic simulation experiment in randomized scenes with varying numbers of obstacles.

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Author:Hendrik Reimann, Ioannis Iossifidis, Gregor Schöner
URL:https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5650603 /
Place of publication:Taipei, Taiwan
Document Type:Conference Proceeding
Year of Completion:2010
Release Date:2019/04/25
Page Number:8
First Page:5372
Last Page:5379
Institutes:Fachbereich 1 - Institut Informatik
DDC class:000 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):License LogoNo Creative Commons