CONFERENCE PROCEEDINGS
Advanced Search
Home > Proceedings > Volume 12332 > Article
Paper
6 September 2022 Simultaneously obstacle avoidance and kinematic control for redundant manipulators based on improve danger field
Xiaojing Lv, Baoyu Ye
Author Affiliations +
Proceedings Volume 12332, International Conference on Intelligent Systems, Communications, and Computer Networks (ISCCN 2022); 1233208 (2022) https://doi.org/10.1117/12.2652504
Event: International Conference on Intelligent Systems, Communications, and Computer Networks (ISCCN 2022), 2022, Chengdu, China
Abstract
Redundant robots are widely used because of their superior flexibility. However, due to the physical constraints and the influence of uncertain obstacles in the workspace, it brings great challenges to the high-precision kinematic control of redundant robots. This paper presents a real-time obstacle avoidance and high-precision kinematic control method for redundant robot based on improved danger field method. An improved danger field description is established to improve the adaptability of the system to dynamic obstacles by introducing the speed forward-looking information between robot and obstacles. The kinematic control strategy with finite time convergence is designed. The dynamic programming type problem description is established through two terminal inequality constraint modeling of joint angle and velocity. Then a recursive solver is designed to solve the nonlinear HJB problem, and the control command is obtained in real time. The stability of the closed-loop system is analyzed. Simulation results show that the proposed method has better obstacle avoidance performance than traditional dangerous field, and has better advantages in avoiding physical constraints.
© (2022) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
Xiaojing Lv and Baoyu Ye "Simultaneously obstacle avoidance and kinematic control for redundant manipulators based on improve danger field", Proc. SPIE 12332, International Conference on Intelligent Systems, Communications, and Computer Networks (ISCCN 2022), 1233208 (6 September 2022); https://doi.org/10.1117/12.2652504
ACCESS THE FULL ARTICLE
ORGANIZATIONAL
Sign in with credentials provided by your organization.
INSTITUTIONAL
Select your institution to access the SPIE Digital Library.
SELECT YOUR INSTITUTION
PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
PERSONAL SIGN IN
No SPIE Account? Create one
PURCHASE THIS CONTENT
SUBSCRIBE TO DIGITAL LIBRARY
50 downloads per 1-year subscription
Members: $195
Non-members: $335 ADD TO CART
25 downloads per 1 - year subscription
Members: $145
Non-members: $250 ADD TO CART
PURCHASE SINGLE ARTICLE
Includes PDF, HTML & Video, when available
Members: $17.00
Non-members: $21.00 ADD TO CART
PROCEEDINGS
 6 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
GET CITATION
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Robots
Motion controllers
Computer simulations
Kinematics
Detection and tracking algorithms
Control systems
Computer programming
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top