Real-time collision avoidance manipulator transfer movementsCollision free robot manipulator maneuvers for transferring a payload from one location to another in the presence of obstacles are discussed. Such maneuvers are executed by means of two algorithms running in parallel. The first algorithm performs an on-line, one step ahead acceleration optimization, with an adaptive N-step ahead precaution measure to prevent overshooting the specified forbidden joint coordinates. The second algorithm, an on-line planning algorithm, at the same time, selects the current target state and the current forbidden joint coordinates for the first algorithm. Since the task is a point to point transfer movement, the problem is dealt in robot joint space directly and the kinematic problem can be bypassed completely. A simulation example using a 2 degree-of-freedom planner robot is given.
Document ID
19880040194
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chen, N. (Illinois Univ. Urbana, IL, United States)
Dwyer, T. A. W., III (Illinois, University Urbana, United States)