Improvement of Obstacle and Singularity Avoidance Path Planning Algorithm for Redundant Manipulators

DOI

10.2991/iccsae-15.2016.177How to use a DOI?

Keywords

Redundant manipulator; Obstacle avoidance; Singularity avoidance; Motion Planning

Abstract

A collaborative optimization scheme of obstacle avoidance and singularity avoidance path planning method is presented for redundant robot. An improved real-time minimum distance calculated method is presented and search the connect rod which easy to collision based on this minimum distance. Complete the obstacle avoidance based on the self-motion of the redundant manipulator on a null space and two obstacle avoidance parameters related to real-time minimum distance are introduced to improve optimization of obstacle avoidance. Adopt the DLS method to solve the problem that very high joint velocities in the vicinity of singular configuration. At last, through simulation of planar 3R redundant manipulator, the algorithm proves to be feasible and effective.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Yu-Bin Liu
AU  - Qian Dai
PY  - 2016/02
DA  - 2016/02
TI  - Improvement of Obstacle and Singularity Avoidance Path Planning Algorithm for Redundant Manipulators
BT  - Proceedings of the 2015 5th International Conference on Computer Sciences and Automation Engineering
PB  - Atlantis Press
SP  - 959
EP  - 969
SN  - 2352-538X
UR  - https://doi.org/10.2991/iccsae-15.2016.177
DO  - 10.2991/iccsae-15.2016.177
ID  - Liu2016/02
ER  -