Obstacle avoidance for redundant manipulators using the Compact QP method

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

研究成果: Conference contribution

35 引文 (Scopus)

摘要

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.

原文English
主出版物標題Proceedings - IEEE International Conference on Robotics and Automation
發行者Publ by IEEE
頁面262-269
頁數8
3
ISBN(列印)0818634529
出版狀態Published - 1993
事件Proceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
持續時間: 1993 五月 21993 五月 6

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
城市Atlanta, GA, USA
期間93-05-0293-05-06

指紋

Redundant manipulators
Quadratic programming
Collision avoidance
Computational efficiency
Manipulators
Program processors

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

引用此文

Cheng, F-T., Chen, T. H., Wang, Y. S., & Sun, Y. Y. (1993). Obstacle avoidance for redundant manipulators using the Compact QP method. 於 Proceedings - IEEE International Conference on Robotics and Automation (卷 3, 頁 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. 卷 3 Publ by IEEE, 1993. 頁 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. 於 Proceedings - IEEE International Conference on Robotics and Automation. 卷 3, Publ by IEEE, 頁 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. 卷 3 Publ by IEEE, 1993. p. 262-269.

研究成果: Conference contribution

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N2 - 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.

AB - 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.

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