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Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment

2021-08-02 10:14:45
Wanda Zhao (LS2N, ReV), Anatol Pashkevich (LS2N, ReV, IMT Atlantique), Damien Chablat (ReV, LS2N)
arXiv_RO
   
Abstract

The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion planning for the robot body. The first of them is solved via discrete dynamic programming, the second one is worked out using quadratic programming with mixed linear equality/nonequality constraints. Efficiency of the proposed technique is confirmed by simulation.

Abstract (translated)

URL

https://arxiv.org/abs/2108.00762

PDF

https://arxiv.org/pdf/2108.00762.pdf

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