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A global cartesian space obstacle avoidance scheme for redundant manipulators
Author(s) -
Khadem Siamak E.,
Dubey Rajiv V.
Publication year - 1991
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660120407
Subject(s) - control theory (sociology) , obstacle avoidance , cartesian coordinate system , scheme (mathematics) , computer science , singularity , obstacle , constraint (computer aided design) , mathematics , robot , mathematical optimization , control (management) , artificial intelligence , mobile robot , law , mathematical analysis , political science , geometry
Optimal control of kinematically redundant manipulators involves the use of extra degrees of freedom to improve their performance by energy minimization, singularity avoidance, obstacle avoidance, higher dexterity, etc. In this paper we deal with the obstacle avoidance problem by using modern control theory and choosing an integral‐type performance index which results in a global optimization scheme. Obstacles are expressed as Cartesian space constraints. The state constraint function and control effort are minimized globally as a performance index. The control effort which maximizes the Hamiltonian and minimizes the performance index is used to find the self‐motion of the manipulator. A simulation for a three‐degrees‐of‐freedom redundant planar robot is presented to demonstrate the effectiveness of the scheme.