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Operation of the Collaborative Composite Manufacturing (CCM) System

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Window-shaped obstacle avoidance for a redundant manipulator.

F T Cheng¹, Y T Lu, Y Y Sun

¹Inst. of Manuf. Eng., Nat. Cheng Kung Univ., Tainan.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|February 8, 2008

Summary

This summary is machine-generated.

This study introduces a new method to improve robot obstacle avoidance for window-shaped challenges. The nearest link method enhances solutions by reducing chatter and optimizing redundancy for multiple goals.

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Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Obstacle avoidance is crucial for robotic systems operating in complex environments.
Existing methods, like Zghal's, have limitations in handling window-shaped obstacles, leading to undesirable joint rate chatter.
The precise calculation of the shortest distance between manipulator links and obstacle edges is a key challenge.

Purpose of the Study:

To address the shortcomings of existing window-shaped obstacle avoidance methods.
To propose a novel scheme for calculating the shortest distance between manipulator links and window edges.
To develop an improved method, the Nearest Link (NL) method, for enhanced obstacle avoidance performance.

Main Methods:

A new scheme is proposed to accurately determine the shortest distance, mitigating the chattering problem.
The Nearest Link (NL) method is introduced, focusing on the nearest manipulator link for performance criterion.
Comparative analysis of the proposed NL method against Zghal's method for window-shaped obstacle avoidance.

Main Results:

The proposed shortest distance scheme effectively remedies the chattering problem in joint rates.
The NL method eliminates the on-line weighting assignment issue present in Zghal's method.
The NL method requires less redundancy for obstacle avoidance, enabling greater redundancy for other tasks.

Conclusions:

The developed NL method offers a significant improvement over Zghal's approach for 3-D window-shaped obstacle avoidance.
The NL method enhances robotic control by providing smoother joint rate trajectories and reducing computational complexity.
This advancement facilitates more efficient and versatile robotic applications in dynamic environments.