Avoidance manipulability for redundant manipulators

M. Minami, M. Takahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper is concerned with avoidance manipulability of redundant manipulators for trajectory tracking and obstacle avoidance. Possibility of avoiding a collision with obstacles during tracking a desired hand trajectory is discussed with the proposed avoidance matrix, avoidance manipulability ellipsoid and avoidance manipulability measure, which are defined on each link constructing the manipulator except the top link. A necessary and sufficient condition that the intermediate link can avoid obstacles in a working space is indicated when a dimension of range space of the avoidance matrix coincides with the one of the working space of the manipulator. That means the avoidance manipulability ellipsoid is expanded in the whole working space. Relations of the ellipsoids and factors that influence the shape, namely, a posture of the manipulator, redundant degree, a serial position of the intermediate link from base, and priorities of the avoiding tasks, are also analyzed. Finally, we show analyzed results of avoidance possibility with the proposed avoidance manipulability by numerical examples.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages314-319
Number of pages6
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: Jul 20 2003Jul 24 2003

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume1

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period7/20/037/24/03

Keywords

  • Ellipsoids
  • Equations
  • Kinematics
  • Kinetic theory
  • Manipulator dynamics
  • Position measurement
  • Shape control
  • Shape measurement
  • Sufficient conditions
  • Trajectory

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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