Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles
| Autor: | Jingdong Zhao, Hong Liu, Liangliang Zhao, Yongjun Sun, Zainan Jiang |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Inverse kinematics Computer science lcsh:Electronics lcsh:TK7800-8360 020207 software engineering 02 engineering and technology Kinematics lcsh:QA75.5-76.95 Computer Science Applications Computer Science::Robotics 020901 industrial engineering & automation Artificial Intelligence Control theory Collision free 0202 electrical engineering electronic engineering information engineering lcsh:Electronic computers. Computer science Software Collision avoidance |
| Zdroj: | International Journal of Advanced Robotic Systems, Vol 18 (2021) |
| ISSN: | 1729-8814 |
| DOI: | 10.1177/1729881421996148 |
| Popis: | Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obstacles. Our optimization-based algorithm simultaneously handles the task space constraints, the joint limit constraints, and the collision-free constraints for hyper-redundant manipulators based on the generalized framework. Second, we present an extension of our inverse kinematic algorithm to collision avoidance for the hyper-redundant manipulators, where the workspaces may have different types of obstacles. We highlight the performance of our algorithm on hyper-redundant manipulators with various degrees of freedom. The results show that our algorithm has made full use of dexterity of hyper-redundant manipulators in complex environments, enhancing the performance and increasing the flexibility. |
| Databáze: | OpenAIRE |
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