Obstacle avoidance for redundant manipulators using the Compact QP method

Fan-Tien Cheng, Tsing Hua Chen, Yuh Shyang Wang, York Yih Sun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Citations (Scopus)

Abstract

In this paper, the Compact QP (Quadratic Programming) method is proposed to resolve the obstacle avoidance problem for a redundant manipulator. Moreover, the drift-free criterion is also considered when a redundant manipulator performs a repeated motion. Due to the computational efficiency and versatility of the Compact QP method, real-time implementation is able to be achieved, and physical limitations such as joint rate bounds and joint angle limits can be easily taken into account. An example is given to demonstrate that this method is able to avoid the throat of a cavity, and to remedy the drift problem while a primary goal of the manipulators is carried out. Simulation results show that multiple goals can easily be fulfilled by the Compact QP method. The CPU times for a four-link planar redundant manipulator is less than 2 ms, and not more than 5 ms for six-link one. It is believed that the Compact QP method can be applied to solve the obstacle avoidance problem effectively and efficiently.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages262-269
Number of pages8
Volume3
ISBN (Print)0818634529
Publication statusPublished - 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: 1993 May 21993 May 6

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period93-05-0293-05-06

Fingerprint

Redundant manipulators
Quadratic programming
Collision avoidance
Computational efficiency
Manipulators
Program processors

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

Cite this

Cheng, F-T., Chen, T. H., Wang, Y. S., & Sun, Y. Y. (1993). Obstacle avoidance for redundant manipulators using the Compact QP method. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 262-269). Publ by IEEE.
Cheng, Fan-Tien ; Chen, Tsing Hua ; Wang, Yuh Shyang ; Sun, York Yih. / Obstacle avoidance for redundant manipulators using the Compact QP method. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 Publ by IEEE, 1993. pp. 262-269
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Cheng, F-T, Chen, TH, Wang, YS & Sun, YY 1993, Obstacle avoidance for redundant manipulators using the Compact QP method. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 3, Publ by IEEE, pp. 262-269, Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, USA, 93-05-02.

Obstacle avoidance for redundant manipulators using the Compact QP method. / Cheng, Fan-Tien; Chen, Tsing Hua; Wang, Yuh Shyang; Sun, York Yih.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3 Publ by IEEE, 1993. p. 262-269.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Cheng F-T, Chen TH, Wang YS, Sun YY. Obstacle avoidance for redundant manipulators using the Compact QP method. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 3. Publ by IEEE. 1993. p. 262-269