Experimental Evaluation of a Collision Avoidance Control for Redundant Manipulators

被引：0

作者：

Palmieri, Giacomo ^{[1
]}

Carbonari, Luca ^{[1
]}

Costa, Daniele ^{[1
]}

Forlini, Matteo ^{[1
]}

Neri, Federico ^{[1
]}

Scoccia, Cecilia ^{[1
]}

机构：

[1] Polytech Univ Marche, Dept Ind Engn & Math Sci, Ancona, Italy

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2024 | 2024年 / 157卷

关键词：

Collaborative robotics; Collision avoidance; Human-robot collaboration; Redundant manipulators; OBSTACLE AVOIDANCE;

D O I：

10.1007/978-3-031-59257-7_37

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the implementation and testing of an obstacle avoidance algorithm for redundant kinematics manipulators, focusing on its experimental implementation on the KUKA LBR iiwa robot. The algorithm, previously validated in simulations, is based on the null space method and a closed-loop inverse kinematics control law, enabling real-time updates of the robot's motion to avoid collisions with dynamic obstacles. The document outlines the hardware/software architecture of the robotic system, featuring an external controller implemented on a standard PC communicating with the robot controller via TCP/IP protocol. The control execution rate ensures a smooth system control. A test case is presented to assess the method's applicability to a real system and discuss key implementation parameters.

引用

页码：369 / 377

页数：9

共 50 条

[41] A dynamic approach to real-time obstacle avoidance control of redundant manipulators
Ma, S
Hirose, S
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 1996, 39 (02) : 317 - 322
[42] On-line collision-recognition and collision-avoidance control for redundant articulated robots
RahmanianShahri, N
Troch, I
RECENT ADVANCES IN ROBOT KINEMATICS, 1996, : 67 - 76
[43] An evaluation of visual interfaces for teleoperated control of kinematically redundant manipulators
Hinton, Shantell R.
Hoover, Randy C.
Maciejewski, Anthony A.
ICSENG 2008: INTERNATIONAL CONFERENCE ON SYSTEMS ENGINEERING, 2008, : 242 - 247
[44] DYNAMIC CONTROL OF REDUNDANT MANIPULATORS
HSU, P
HAUSER, J
SASTRY, S
JOURNAL OF ROBOTIC SYSTEMS, 1989, 6 (02): : 133 - 148
[45] Obstacle avoidance of 7-DOF Redundant Manipulators
Xu, Zhiyuan
Gan, Yahui
Dai, Xianzhong
Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019, 2019, : 4184 - 4189
[46] A paradigm of bounded geometry for the singularities avoidance of redundant manipulators
Mayorga, RV
IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, 1996, : 431 - 437
[47] Obstacle avoidance of 7-DOF Redundant Manipulators
Xu, Zhiyuan
Gan, Yahui
Dai, Xianzhong
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 4184 - 4189
[48] INVERSE KINEMATIC SOLUTION OF REDUNDANT MANIPULATORS AND OBSTACLE AVOIDANCE
ZHAO, ZL
CHEN, J
21ST APPLICATION OF THE COMPUTERS AND OPERATIONS RESEARCH IN THE MINERAL INDUSTRY, 1989, : 1095 - 1105
[49] Intuitive gesture-based control system with collision avoidance for robotic manipulators
Rudd, Grant
Daly, Liam
Cuckov, Filip
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2020, 47 (02): : 243 - 251
[50] Acceleration-Level Obstacle Avoidance of Redundant Manipulators
Guo, Dongsheng
Feng, Qingshan
Cai, Jianhuang
IEEE ACCESS, 2019, 7 : 183040 - 183048

← 1 2 3 4 5 →