Natural Dynamics of Robot Manipulators in the Presence of Obstacles

[+] Author and Article Information
T. Jia, F. M. L. Amirouche

Mechanical Engineering Department, University of Illinois at Chicago, Chicago, Il. 60680

J. Dyn. Sys., Meas., Control 113(1), 170-174 (Mar 01, 1991) (5 pages) doi:10.1115/1.2896345 History: Received April 01, 1988; Revised January 01, 1990; Online March 17, 2008


This paper presents the natural dynamic control problem of robot manipulators and its application to collision avoidance and path planning. A set of moving convex obstacles (or polyhedron) are modeled to achieve the desired conditions for collision detection and avoidance. The conditions represent a set of inequality constraints which are automatically incorporated to assure collision free motion. A minimum dimensional problem is achieved through the use of the null space of the Jacobian matrix associated with the constraint equations. A simple example to illustrate the procedures developed above is given.

Copyright © 1991 by The American Society of Mechanical Engineers
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