An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control | Zendy

Masafumi HAMAGUCHI | Zendy; Takao TANIGUCHI | Zendy

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An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control

Author(s) -

Masafumi HAMAGUCHI,

Takao TANIGUCHI

Publication year - 2013

Publication title -

journal of robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.303

H-Index - 14

eISSN - 1687-9619

pISSN - 1687-9600

DOI - 10.1155/2013/842717

Subject(s) - obstacle avoidance , kinematics , control theory (sociology) , computer science , redundancy (engineering) , obstacle , impedance control , electrical impedance , control (management) , artificial intelligence , robot , physics , mobile robot , operating system , classical mechanics , quantum mechanics , political science , law

An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments

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