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

  title={On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace},
  author={Jin-Liang Chen and Jing-Sin Liu and Wan-Chi Lee and Tzu-Chen Liang},
  pages={625 - 636}
The manipulator with a large degree of redundancy is useful for realizing multiple tasks such as maneuvering the robotic arms in the constrained workspace, e.g. the task of maneuvering the end-effector of the manipulator along a pre-specified path into a window. This paper presents an on-line technique based on a posture generation rule to compute a null-space joint velocity vector in a singularity-robust redundancy resolution method. This rule suggests that the end of each link has to track an… 

Redundant robot manipulator control with obstacles avoidance using self-motion approach

Self-motion vector is introduced to the inverse kinematic solution of the robot manipulator in order to add the secondary task (obstacles avoidance) and robot avoids obstacles without influencing the main task (trajectory tracking).

Obstacle Avoidance Based ANFIS and Tracking Control a Redundant Robot Manipulator

This paper addresses the issue of obstacle avoidance of a robot manipulator fixed in a predefined environment by using a selfmotion technique related to the robot arms and shows that it is possible to generate self-motion through an ANFIS network resulting from an adequate mixture between the self- motions coming from several analytical methods or others.

Time-optimal task scheduling for articulated manipulators in environments cluttered with obstacles

The proposed approach employs the bump-surface (B-Surface) concept for the representation of the 2D robot's environment by a B-Spline surface embedded in 3D Euclidean space and satisfies optimally the task scheduling criteria and objectives.

Adaptive neuro‐predictive control for redundant robot manipulators in presence of static and dynamic obstacles: A Lyapunov‐based approach

This paper presents a novel approach for online path tracking and obstacle avoidance of redundant robot manipulators. To this end, a nonlinear model predictive control (NMPC) method is designed that

Redundant robot manipulator control with obstacle avoidance using extended Jacobian method

In this paper, we develop a control of a redundant robot manipulator. That has to carry out a trajectory tracking in operational space while avoiding an obstacle. For this purpose, extended Jacobian

Avoidance of obstacles and joint limits for end-effector tracking in redundant manipulators

  • Jin-Liang ChenJing-Sin Liu
  • Engineering
    7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.
  • 2002
A novel objective function of joint velocity and position is designed for use in gradient projection technique to avoid obstacles and joint limits to demonstrate the validity of performance criteria and effectiveness of the kinematic control method.

A New Noise-Tolerant Obstacle Avoidance Scheme for Motion Planning of Redundant Robot Manipulators

Based on the neural dynamics design formula, a new scheme with the pseudoinverse-type formulation has the capability of suppressing constant and bounded time-varying noises, and it is termed as the noise-tolerant obstacle avoidance (NTOA) scheme in this paper.

Fuzzy improved adaptive neuro-NMPC for online path tracking and obstacle avoidance of redundant robotic manipulators

The proposed NMPC automatically adjusts the weights in the cost function in order to obtain good performance and using neural networks for model prediction, no prior knowledge about system parameters is necessary and system robustness against changes in its parameters is achieved.

Path tracking and obstacle avoidance for redundant robotic arms using fuzzy NMPC

The proposed NMPC automatically adjusts the weights in cost function in order to obtain good performance and nonlinear dynamic of the robot including actuators dynamic is considered.



An improved trajectory planner for redundant manipulators in constrained workspace

  • Tzu-Chen LiangJing-Sin Liu
  • Engineering
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 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.

Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments

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

Collision-avoidance control for redundant articulated robots

A collision avoidance method is presented which allows the use of redundant degrees of freedom such that a manipulator can avoid obstacles while tracking the desired end-effector trajectory and the generalized inverse with boundary ellipse functions as optimization criteria.

A fast, on-line collision avoidance method for a kinematically redundant manipulator based on reflex control

A computationally efficient method to achieve reflexive collision avoidance that incorporates task-space-based attraction to a hand goal, while the reflexes permit use of kinematic redundancy for obstacle avoidance.

A new on-line method to avoid collisions with links of redundant articulated robots

A new mathematical formulation of robot and obstacles is presented such that for on-line collision recognition only robot joint positions in workspace are required and the boundary ellipse functions are used as optimization criterion in a collision-avoidance method.

Task-space tracking with redundant manipulators

  • O. Egeland
  • Engineering
    IEEE Journal on Robotics and Automation
  • 1987
A controller for redundant manipulators with a small fast manipulator mounted on a positioning part has been developed and it was shown that a high bandwidth was possible with moderate actuator torques.

Task planning for serial redundant manipulators

This paper developed and demonstrated using a redundant manipulator that simultaneously avoids obstables, singularities and joint motion limitations and the task planning method and associated analyses are applicable to the general serial redundant manipulators with an arbitrary degree of redundancy.

Improved configuration control for redundant robots

A singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators that suppresses large joint velocities near singularities, at the expense of small task trajectory errors.

Adaptive path planning and obstacle avoidance for a robot with a large degree of redundancy

A new algorithm for path planning and obstacle avoidance for redundant planar robots is proposed. The task of path planning is formulated as a sequence of nonlinear programming problems. For each

Real-time collision avoidance for redundant manipulators

This paper presents a simple and robust approach to achieving collision avoidance for kinematically redundant manipulators at the control-loop level. The proposed scheme represents the obstacle