{"title":"Collision avoidance with a redundant articulated robot: an implicit approach","authors":"M. Keller, R. Schilling","doi":"10.1109/ICSYSE.1990.203135","DOIUrl":null,"url":null,"abstract":"A resolved-motion rate control method which causes the distal links of a redundant articulated robot to avoid collisions by following the path planned for the tool tip is described. The method is presented for a robot with n+2 links and 2n+3 joints. Explicit closed-form equations for the joint rates are developed. A recursive formulation of a feedback control law is derived for the joint velocities of the 2n distal joints. Path tracking performance is illustrated with two simulation examples","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"1990 IEEE International Conference on Systems Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSYSE.1990.203135","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
A resolved-motion rate control method which causes the distal links of a redundant articulated robot to avoid collisions by following the path planned for the tool tip is described. The method is presented for a robot with n+2 links and 2n+3 joints. Explicit closed-form equations for the joint rates are developed. A recursive formulation of a feedback control law is derived for the joint velocities of the 2n distal joints. Path tracking performance is illustrated with two simulation examples
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