Abstract
In this paper, we present an iterative kinematics control law for redundant manipulators overcoming some usual problems associated to cluttered environments (constraints violations, oscillations, environment dilatation). The Constraints Compliant Control approach relies on a passive avoidance scheme (no motion generation for constraints avoidance) on a limited number of constraints selected from a vicinity analysis. A solution scaling based on the feasible motions with respect to the constraints enables to reach the frontiers of the workspace. Two missions described as sequences of key frames are simulated to compare the performances of the Constraint Compliant Control with state of the art control laws. The obtained computation times remain acceptable to consider a use in real time.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Rubrecht, S., Padois, V. and Bidaud, P.: Evolutionary design of a robotic manipulator for a highly constrained environment. In IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Exploring Nnew Horizons in Evolutionary Design of Robots, pp. 59–64 (2009).
Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. The International Journal of Robotics Research 5(1), 90–98 (1986).
Ben Israel A. and Greville T.N.E.: Generalized Inverses: Theory and Applications, 2nd edition. Springer (2003).
Maciejewski, A. and Klein, C.: Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments. The International Journal of Robotics Research 4(3), 109–117 (1985).
Chaumette, F. and Marchand, E.: A new redundancy-based iterative scheme for avoiding joint limits application to visual servoing. In: IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1720–1725 (2000).
Sentis, L. and Khatib, O.: Synthesis of whole-body behaviors through hierarchical control of behavioral primitives. The International Journal of Humanoid Robotics 2(4), 505–518 (2005).
Baerlocher, P. and Boulic, R.: An inverse kinematic architecture enforcing an arbitrary number of strict priority levels. The Visual Computer: International Journal of Computer Graphics 20(6), 402–417 (2004).
Bruyninckx, H.: Open Robot Control Software: The OROCOS project. In: IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2523–2528 (2001).
Nakamura, Y. and Hanafusa, H.: Inverse kinematics solutions with singularity robustness for robot manipulator control. Journal of Dynamic Systems, Measurement and Control 108, 163–171 (1986).
Salaun, C., Padois, V. and Sigaud, O.: Control of redundant robots using learned models: An operational space control approach. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 878–885 (2009).
Faverjon, B. and Tournassoud, P.: A local based approach for path planning of manipulators with a high number of degrees of freedom. In: IEEE International Conference on Robotics and Automation, Vol. 4, pp. 1152–1159 (1987).
Kanehiro F., Lamiraux F., Kanoun O., Yoshida E. and Laumond J-P.: A local collision avoidance method for non-strictly convex polyhedra. In: Proceedings of Robotics: Science and Systems IV (2008).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer Science+Business Media B.V.
About this paper
Cite this paper
Rubrecht, S., Padois, V., Bidaud, P., de Broissia, M. (2010). Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_39
Download citation
DOI: https://doi.org/10.1007/978-90-481-9262-5_39
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-9261-8
Online ISBN: 978-90-481-9262-5
eBook Packages: EngineeringEngineering (R0)