Control a redundant robot using visual information (Avoidance control of a moving obstacle)

被引：0

作者：

Huang, Jian ^{[1
]}

Todo, Isao ^{[1
]}

Matsuura, Minoru ^{[1
]}

机构：

[1] Department of Mechanical Engineering, Graduate School of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama-shi, Kanagawa 240-8501, Japan

来源：

Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 2002年 / 68卷 / 10期

关键词：

Algorithms - Cameras - Charge coupled devices - Collision avoidance - Image processing - Real time systems - Redundant manipulators - Stereo vision - Torque;

D O I：

10.1299/kikaic.68.2999

中图分类号：

学科分类号：

摘要：

Generally, a redundant robot has been used to avoid a static obstacle in industrial production systems. In this paper, a control method of a redundant robot for avoidance of a moving obstacle using visual impedance is proposed. Two CCD cameras are used to construct a stereovision, and a high-speed image processing board with a built-in DSP processor is used for image input and real time processing. When an obstacle moving into a previously established virtual potential field around the links of a robot is detected, a virtual torque is generated by the proposed method. A criterion function including the manipulability of arm and the distance between obstacle and the link is proposed for selection of a redundant joint. A control algorithm is also developed to complete both a tracking task by an end-effector and a task of obstacle avoidance by a redundant joint at same time. The effectiveness of the proposed method has been demonstrated through the avoidance experiments.

引用

页码：2999 / 3006

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