Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment
| Autor: | Anatol Pashkevich, Wanda Zhao, Damien Chablat |
|---|---|
| Přispěvatelé: | Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Robotique Et Vivant (ReV), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT) |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science Kinematic control Obstacle-avoidance 02 engineering and technology Kinematics Serial manipulator Dynamic programming Computer Science::Robotics Computer Science - Robotics 020901 industrial engineering & automation Control theory Obstacle avoidance 0202 electrical engineering electronic engineering information engineering Redundancy (engineering) Robot [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] 020201 artificial intelligence & image processing Quadratic programming Motion planning Robotics (cs.RO) Redundancy resolution Tensegrity mechanisms |
| Zdroj: | 60th Advances in production management systems, APMS 2021 60th Advances in production management systems, APMS 2021, Sep 2021, Nantes, France Advances in Production Management Systems. Artificial Intelligence for Sustainable and Resilient Production Systems ISBN: 9783030859091 APMS (4) |
| Popis: | International audience; The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion planning for the robot body. The first of them is solved via discrete dynamic programming, the second one is worked out using quadratic programming with mixed linear equality/nonequality constraints. Efficiency of the proposed technique is confirmed by simulation. |
| Databáze: | OpenAIRE |
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