We propose a control method for redundant manipulators for working to unknown objects. When a manipulator's hand tracks a desired trajectory on the surface of an object of unknown shape, trajectory tracking and obstacle avoidance should be controlled at the same time. Real-time operation to an unknown object requires to achieve measurement, path planning and control simultaneously. We present a new method which controls redundant manipulators based on the planning of a collision-free arm form assuming a system for 3-D measurement of the object's configuration. The planning problem can be solved by the penalty method as a nonlinear planning problem with restricting conditions. The penalty method gives the collision-free arm form for the desired future trajectory utilizing an imaginary manipulator. We realize the functions of operation and collision-free movement for unknown objects, using a preview controller which changes the current arm form referring to the future arm form, using its redundancy. Effectiveness is confirmed by simulation experiments.
|Number of pages
|Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
|Published - Jan 1 1996
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering