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Real-time control of robot manipulators in the presence of obstacles

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2 Author(s)
S. Kheradpir ; GTE Lab. Inc., Waltham, MA, USA ; J. S. Thorp

A novel approach is suggested to the problem of obstacle avoidance for a point robot moving among circular or elliptical/spherical or ellipsoid obstacles. The obstacle avoidance strategy (OAS) translates each state constraint (obstacle) into a state-dependent control constraint (SDCC). Each SDCC defines a hyperplane in the control space u. The intersection of the SDCC sets with the hard control bounds forms a polygon in u. The optimal decision strategy (ODS) control algorithm is then used to find the control which lies in this polygon-assuring obstacle avoidance-and minimizes the deviation between the acceleration vector of the point robot and a desired acceleration field. Simulation results display the effectiveness of the algorithm for a workspace hosting multiple obstacles. The OAS algorithm has been implemented successfully on a small Cartesian-coordinate robot

Published in:

IEEE Journal on Robotics and Automation  (Volume:4 ,  Issue: 6 )