Collision Avoidance of a Multiple Degree of Redundancy Manipulator Operating Through a Window

[+] Author and Article Information
H. Zghal

Department of Mechanical and Industrial Engineering, University of Manitoba, Winnipeg, Manitoba, Canada R3T 2N2

R. V. Dubey, J. A. Euler

Department of Mechanical and Aerospace Engineering, University of Tennessee, Knoxville, TN 37996-2210

J. Dyn. Sys., Meas., Control 114(4), 717-721 (Dec 01, 1992) (5 pages) doi:10.1115/1.2897746 History: Received October 01, 1990; Revised January 07, 1992; Online March 17, 2008


The problem of collision-free operation of a multiple-degree-of-redundancy manipulator operating through a window is addressed. An efficient gradient projection optimization scheme is presented for the kinematic control of manipulators with multiple degrees of redundancy. This scheme was developed for dextrous robotic and telerobotic applications in space station construction as well as in congested shop floor environment. A performance criterion is defined to maximize the shortest distances between the manipulator links and the edges of the window. Effectiveness of this scheme and the validity of the performance criterion are verified through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator (LTM).

Copyright © 1992 by The American Society of Mechanical Engineers
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