A Human-Safe Control for Collision Avoidance by a Redundant Robot Using Visual Information
نویسندگان
چکیده
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.
منابع مشابه
A Navigation System for Autonomous Robot Operating in Unknown and Dynamic Environment: Escaping Algorithm
In this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. It is assumed that the robot performs navigation in...
متن کاملWorkspace Boundary Avoidance in Robot Teaching by Demonstration Using Fuzzy Impedance Control
The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...
متن کاملOn-Line Collision Avoidance for Multi-Robot systems in consideration of the Robots' Dynamics
With the use of cooperative multi-robot-systems new chances and perspectives are revealed for service, industrial, spaceand underwaterapplications. A versatile multi-robot-control, which fully exploits the inherent flexibility of a multi-robot-system, guarantees optimized systemthroughput and increases system-autonomy significantly [Freund and Roßmann, 1995; Roßmann, 1993]. On the other hand, t...
متن کاملOn Controlling Robots with Redundancy in an Environment with Obstacles
This paper presents a method to solve the problem of obstacle avoidance for a redundant manipulator so that it closely tracks the desired end-effector trajeclory and simultaneously avoids workspace obstacles. The proposed method introduces the describing Cunction J to indicate whether collision occurs between the robot and obstacles. The obstacle avoidance task is achieved by Cormulating the pe...
متن کاملCollision Avoidance Control Using Null Space Criteria
A new strategy to on-line collision-avoidance of the redundant robots with obstacles is presented. The strategy allows the use of redundant degrees of freedom such that a manipulator can avoid obstacles while tracking the desired end-effectors trajectory. The effectiveness of the proposed strategy based on null space criteria is discussed by theoretical considerations. The strategy is based on ...
متن کامل