Control a Redundant Robot Using Visual Information. Avoidance Control of a Moving Obstacle.

A Human-Safe Control for Collision Avoidance by a Redundant Robot Using Visual Information

With the rapid development of service robots, avoiding collisions with human beings is a most important requirement of robot control. In this paper, we propose a method in which a virtual potential field around a robot is established by stereovision to implement collision avoidance by using its redundant joints, while simultaneously completing a contact task with its hand.

Autonomous robot obstacle avoidance using a fuzzy logic control scheme

Obstacle avoidance control for redundant manipulators using collidability measure

We present an efficient obstacle avoidance control algorithm for redundant manipulators using a new measure called collidability measure. Considering moving directions of manipulator links, the collidability measure is defined as the sum of inverse of predicted collision distances between links and obstacles: This measure is suitable for obstacle avoidance since directions of moving links are a...

Obstacle Avoidance Based Anfis and Tracking Control a Redundant Robot Manipulator

This paper addresses the issue of obstacle avoidance of a robot manipulator fixed in a predefined environment. This is achieved by using a selfmotion technique related to the robot arms. It is obtained by projecting the gradient of a scalar function (representing the criterion) on the null space of the Jacobean matrix related to the robot. Two important analytical methods are generally used: Gr...

Obstacle Avoidance for Redundant Manipulators as Control Problem

One of the goals of robotics research is to provide control algorithms that allow robotic manipulators to move in an environment with objects. The contacts with these objects may be part of the task, e.g. in the assembly operations, or they may be undesired events. If the task involves some contacts with the environment it is necessary to control the resulting forces. For that purpose, differen...