An Automatic Collision Avoidance Approach for Remote Control of Redundant Manipulator

作者:Zhang, Weijun*; Yuan, Jianjun; Li, Qiang; Tang, Zhixia
来源:IEEE International Conference on Information and Automation, China,Hunan,Changsha,Changsha, 2008-06-20 to 2008-06-23.
DOI:10.1109/ICINFA.2008.4608109

摘要

In this paper, a modeling, planning and remote control of a redundant manipulator for a semi-structured "under vehicle" environment is investigated, The geometric characteristic is abstracted by the distance laser sensory information and collision danger is measured in real time to activate the self-motion of reshaping the configuration. To make a real time solution, a intuitive collision avoidance method is presented for planar manipulator. Incorporating the algorithm with the supervisory control framework, a dynamic trajectory planning algorithm is presented for rapidness requirement of bomb disposal tasks. The simulation and experiments prove the effectiveness of presented method.