Window-shaped obstacle avoidance for a redundant manipulator

Fan-Tien Cheng, Yu Der Lu, York Yin Sun

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


The window-shaped obstacle avoidance problem is studied in this paper. Several research papers regarding obstacle avoidance including the method proposed by Zghal et al. which we believe is the most suitable for 3-D window-shaped obstacle avoidance were studied. Consequently, several shortcomings of the Zghal's method were discovered. The Zghal's method will produce a chattering problem due to its deficiency in determining the shortest distance between the manipulator links and the window edges. This paper proposes a new scheme to determine the shortest distance. This new scheme will remedy the chattering problem. Moreover, the Most Dangerous Link (MDL) method is developed to further improve the effectiveness and efficiency. Because the MDL method only considers the most dangerous link in the performance criterion, the on-line weighting assignment problem of the Zghal's method is removed, also, less redundancy is required to accomplish the goal for obstacle avoidance. Therefore, the MDL method will allow more redundancy to be useful for the other goals under multiple-goal application environments.

Original languageEnglish
Pages (from-to)556-561
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1997 Jan 1
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 1997 Apr 201997 Apr 25

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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