# Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments

@article{Maciejewski1985ObstacleAF, title={Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments}, author={Anthony A. Maciejewski and Charles A. Klein}, journal={The International Journal of Robotics Research}, year={1985}, volume={4}, pages={109 - 117} }

The vast majority of work to date concerned with obstacle avoidance for manipulators has dealt with task descriptions in the form ofpick-and-place movements. The added flexibil ity in motion control for manipulators possessing redundant degrees offreedom permits the consideration of obstacle avoidance in the context of a specified end-effector trajectory as the task description. Such a task definition is a more accurate model for such tasks as spray painting or arc weld ing. The approach… Expand

#### 997 Citations

A Global Cartesian Space Obstacle Avoidance Scheme for Redundant Manipulator

- Mathematics
- 1989 American Control Conference
- 1989

Optimal control of kinematically redundant manipulators involves the use of extra degrees of freedom to improve th performance by energy minimization, singularity avoidance, obstacl avoidance, higher… Expand

Kinematic control algorithms for on-line obstacle avoidance for redundant manipulators

- Computer Science
- IEEE/RSJ International Conference on Intelligent Robots and Systems
- 2002

The paper deals with kinematic control algorithms for on-line obstacle avoidance which allow a kinematically redundant manipulator to move in an unstructured environment without colliding with obstacles and proposes an approximate solution which is computationally more efficient and allows for many simultaneously active obstacles without any problems. Expand

Collision avoidance control of redundant manipulators

- Mathematics
- 1991

Abstract This paper discusses how the extra degrees of freedom present in a redundant manipulator could be utilized to achieve other goals in addition to the specifications for the desired end… Expand

Efficient algorithms for the trajectory planning of redundant manipulators with obstacle avoidance

- Computer Science
- Proceedings of the 1994 IEEE International Conference on Robotics and Automation
- 1994

This article presents a path planning strategy for redundant serial manipulators working in a cluttered environment, which includes joint limit constraints, collision detection and heuristics for the solution of typical difficult cases, thereby leading to a high success rate. Expand

Motion Planning and Control of Redundant Manipulators for Dynamical Obstacle Avoidance

- Computer Science
- Machines
- 2021

A framework for the motion planning and control of redundant manipulators with the added task of collision avoidance is presented and the proposed method for the smoothing of the trajectory can give a reduction of the angular accelerations of the motors of the order of 90%, with an increase of less than 15% of the calculation time. Expand

Obstacle avoidance for kinematically redundant robots using distance algorithm

- Mathematics, Computer Science
- Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97
- 1997

The redundancy of robot manipulators plays an important role in increasing their flexibility and versatility, especially in an environment with obstacles, and is utilized for enabling collision-free motion for a given trajectory of a manipulator end-effector. Expand

Theory and Applications of Configuration Control for Redundant Manipulators

- Mathematics
- 1991

ABSTRACT Previous investigations of redundant manipulators have often focussed on local optimization for redundancy resolution by using the Jacobian pseudoinverse to solve the instantaneous… Expand

An improved trajectory planner for redundant manipulators in constrained workspace

- Computer Science
- J. Field Robotics
- 1999

Simulations of a planar eight-link robot in a constrained workspace illustrate the effectiveness of the switching objective function with the variable weighting approach in trajectory planning problems. Expand

Collision avoidance techniques for tele-operated and autonomous manipulators in overlapping workspaces

- Engineering, Computer Science
- 2008 IEEE International Conference on Robotics and Automation
- 2008

The integration of several techniques for cooperative control of both tele-operated and autonomous redundant manipulators with overlapping workspaces using an intelligent and intuitive EEF velocity scaling, coordinated null-space optimization across affected manipulators, and collision detection are described. Expand

On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace

- Engineering, Computer Science
- Robotica
- 2002

Simulations show the effectiveness and flexibility of the proposed method in generating proper postures for the collision avoidance and the joint limits as a singularity-robust null-space projection vector in maneuvering redundant robots within constrained workspaces. Expand

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