A local based approach for path planning of manipulators with a high number of degrees of freedom
Year: 2005
Type: conference-paper
Abstract: This paper presents an alternative to the Potential Field Method of computing local collision-free motions for general manipulators. The main distinction is that we separate the description of the task from constraints of anti-collision. This enables to control accurately all relevant measures of the problem. A task is expressed by the minimization of a function plus eventually some geometric constraints, whereas anti-collision is translated into very simple linear constraints through the methods of the velocity dampers and the tangent separating planes. This approach is applied to the control of manipulators with a high number of degrees of freedom, using hierarchical descriptions of the environment and the robots. This is illustrated by two realizations, path planning for a ten link manipulator in the cluttered environment of a nuclear plant reactor, and cooperative tasks between two six degree of freedom robots. In the end we discuss how to incorporate the action of a global planner in this general framework.
Authors: B. Faverjon, P. Tournassoud
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2104906962