Obstacle avoidance for redundant manipulators using the compact QP method
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
The compact QP (quadratic programming) method is proposed to resolve the obstacle avoidance problem for a redundant manipulator. The drift-free criterion is considered when a redundant manipulator performs a repeated motion. Due to the computational efficiency and versatility of the compact QP method, real-time implementation is able to be achieved, and physical limitations such as joint rate bounds and joint angle limits can be easily taken into account. An example is given to demonstrate that this method is able to avoid the throat of a cavity, and to remedy the drift problem while a primary goal of the manipulators is carried out. Simulation results show that multiple goals can easily be fulfilled by this method.< >Keywords
This publication has 16 references indexed in Scilit:
- Real-time obstacle avoidance using harmonic potential functionsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A solution to the singularity problem for six-joint manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Nearest optimal repeatable control strategies for kinematically redundant manipulatorsIEEE Transactions on Robotics and Automation, 1992
- The nature of drift in pseudoinverse control of kinematically redundant manipulatorsIEEE Transactions on Robotics and Automation, 1989
- Repeatability of redundant manipulators: mathematical solution of the problemIEEE Transactions on Automatic Control, 1988
- Subtask performance by redundancy resolution for redundant robot manipulatorsIEEE Journal on Robotics and Automation, 1988
- Contribution to Control of Redundant Robotic Manipulators in an Environment with ObstaclesThe International Journal of Robotics Research, 1986
- Real-Time Obstacle Avoidance for Manipulators and Mobile RobotsThe International Journal of Robotics Research, 1986
- Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying EnvironmentsThe International Journal of Robotics Research, 1985
- A numerically stable dual method for solving strictly convex quadratic programsMathematical Programming, 1983