Development of redundant robot simulator for avoiding arbitrary obstacles based on semi-analytical method of solving inverse kinematics

Seiji Aoyagi, Kazuya Tashiro, Mamoru Minami, Masaharu Takano

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

4 Citations (Scopus)

Abstract

A method for solving obstacle avoidance for a redundant robot is proposed in the present paper. Extra degrees of freedom (DOF) of a redundant robot are effective for realizing an objective position and orientation of its end effector (referred to hereafter as "pose"), while the robot is avoiding obstacles. The path should be planned so as that the robot can avoid obstacles and realize the desired goal pose. The models of six elementary types of obstacles are assumed, taking account of real environment The path planning method proposed herein is divided into three procedures as follows: 1) solving inverse kinematics by an analytical method for avoiding six elementary types of obstacles, 2) solving inverse kinematics by a semi-analytical method for realizing a goal pose, and 3) generating a path from a start pose to the goal one. A computational simulator for a redundant robot to avoid arbitrary obstacles based on these procedures is developed.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3497-3502
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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