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An obstacle avoidance algorithm for hyper-redundant manipulators

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2 Author(s)
G. S. Chirikjian ; Sch. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA ; J. W. Burdick

Novel kinematic algorithms for implementing planar hyperredundant manipulator obstacle avoidance is presented. Unlike artificial potential field methods, the method outlined is strictly geometric. Tunnels are defined in a workspace in which obstacles are presented. Methods of differential geometry are then used to formulate equations which guarantee that sections of the manipulator are confined to the tunnels and therefore avoid the obstacles. A general formulation is given with examples to illustrate this approach

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990