Trajectory Modification Using Elastic Force for Collision Avoidance of a Mobile Manipulator
نویسندگان
چکیده
This paper proposes a method for collision avoidance of a mobile manipulator. The method deals with the problem of driving a mobile manipulator from a starting configuration to a goal configuration avoiding obstacles. It modifies planned trajectory at every sampling time using elastic force and potential field force. It puts way poses throughout a planned trajectory, and the trajectory modification is accomplished by adjusting the way poses. The way poses are adjusted subject to the elastic force and the potential field force. The procedure repeats until the robot reaches its goal configuration through the way poses. This method results in smooth and adaptive trajectory in an environment with moving as well as stationary obstacles.
منابع مشابه
Optimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
متن کاملMaximum Allowable Load On Wheeled Mobile Manipulators (RESEARCH NOTE)
This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints a...
متن کاملExperiments in Sensor-based Collis1on Avoidance
Abs t r ac t A control strategy for sensor-based collision avoidance and the supporting experimental results are reported in this paper. The real-time arm control software cc)ntinuously monitors the object clistance measured by the proximity sensors. When this distance is less than a preset threshold, the collision avoidance control acticm is initiated to inhibit motion towards the object and t...
متن کاملCollision Avoidance and Handling for a Mobile Manipulator
In general service robots move autonomously in partially known environments. This paper proposes a collision avoidance and collision handling scheme to move through such working areas. Both schemes are implemented in a single paradigm: artificial and measured forces are combined, resulting in force/torque vectors. The force/torque vectors are superimposed and the robot’s joint velocities are de...
متن کاملMaximum Allowable Dynamic Load of Flexible 2-Link Mobile Manipulators Using Finite Element Approach
In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...
متن کامل