TY - GEN
T1 - Avoidance manipulability for redundant manipulators
AU - Minami, M.
AU - Takahara, M.
N1 - Publisher Copyright:
© 2003 IEEE.
PY - 2003
Y1 - 2003
N2 - This paper is concerned with avoidance manipulability of redundant manipulators for trajectory tracking and obstacle avoidance. Possibility of avoiding a collision with obstacles during tracking a desired hand trajectory is discussed with the proposed avoidance matrix, avoidance manipulability ellipsoid and avoidance manipulability measure, which are defined on each link constructing the manipulator except the top link. A necessary and sufficient condition that the intermediate link can avoid obstacles in a working space is indicated when a dimension of range space of the avoidance matrix coincides with the one of the working space of the manipulator. That means the avoidance manipulability ellipsoid is expanded in the whole working space. Relations of the ellipsoids and factors that influence the shape, namely, a posture of the manipulator, redundant degree, a serial position of the intermediate link from base, and priorities of the avoiding tasks, are also analyzed. Finally, we show analyzed results of avoidance possibility with the proposed avoidance manipulability by numerical examples.
AB - This paper is concerned with avoidance manipulability of redundant manipulators for trajectory tracking and obstacle avoidance. Possibility of avoiding a collision with obstacles during tracking a desired hand trajectory is discussed with the proposed avoidance matrix, avoidance manipulability ellipsoid and avoidance manipulability measure, which are defined on each link constructing the manipulator except the top link. A necessary and sufficient condition that the intermediate link can avoid obstacles in a working space is indicated when a dimension of range space of the avoidance matrix coincides with the one of the working space of the manipulator. That means the avoidance manipulability ellipsoid is expanded in the whole working space. Relations of the ellipsoids and factors that influence the shape, namely, a posture of the manipulator, redundant degree, a serial position of the intermediate link from base, and priorities of the avoiding tasks, are also analyzed. Finally, we show analyzed results of avoidance possibility with the proposed avoidance manipulability by numerical examples.
KW - Ellipsoids
KW - Equations
KW - Kinematics
KW - Kinetic theory
KW - Manipulator dynamics
KW - Position measurement
KW - Shape control
KW - Shape measurement
KW - Sufficient conditions
KW - Trajectory
UR - http://www.scopus.com/inward/record.url?scp=84943655935&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84943655935&partnerID=8YFLogxK
U2 - 10.1109/AIM.2003.1225114
DO - 10.1109/AIM.2003.1225114
M3 - Conference contribution
AN - SCOPUS:84943655935
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 314
EP - 319
BT - Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Y2 - 20 July 2003 through 24 July 2003
ER -