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Attractor dynamics approach for autonomous collision-free path generation in 3d-space for an 7 dof robot arm

  • To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacles we have generalized the attractor dynamics approach established for vehicles to trajectory formation in robot arms. This approach is able to deal with the time-varying environments that occur when a human operator moves in a shared workspace. Stable fixed-points (attractors) for the heading direction of the end-effector shift during movement and are being tracked by the system. This enables the attractor dynamics aoproach to avoid the spurious states that hamper potential field methods. Separating planning and control computationally, the approach is also simpler to implement. The stability properties of the movement plan enable to approach to deal with fluctuating and imprecise sensory information. We implement this approach on a seven degree of freedom anthropomorphic arm reaching for objects on a working surface. We use an exact solution of the inverse kinematics, which enables us to steer the spatial position of the elbow clear of obstacles. The straight-line trajectories of the end-effector that result far from obstacles make the movement goals of the robotic assistant predictable, improving man-machine interaction.

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Author:Ioannis Iossifidis, Gregor Schöner
Parent Title (German):Proceedings of the ROBOTIK 2004, Leistungsstand - Anwendungen - Visionen - Trends, number 1841 in VDI-Berichte
Publisher:VDI Verlag
Place of publication:München
Document Type:Conference Proceeding
Year of Completion:2004
Release Date:2019/05/10
Page Number:8
First Page:815
Last Page:822
Institutes:Fachbereich 1 - Institut Informatik
DDC class:600 Technik, Medizin, angewandte Wissenschaften / 620 Ingenieurwissenschaften und Maschinenbau
Licence (German):License LogoNo Creative Commons