Manoeuvring highly redundant manipulators

Robotica

Volumn 15, Issue 4, 1997, Pages 435-447

  Conkur, E Sahin ^a   Buckingham, Rob ^a  

^a UNIVERSITY OF BRISTOL   (United Kingdom)

Author keywords

Obstacle avoidance; Path planning; Redundant robots

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; COMPUTATIONAL GEOMETRY; DEGREES OF FREEDOM (MECHANICS); MOTION PLANNING; REDUNDANCY; ROBUSTNESS (CONTROL SYSTEMS); END EFFECTORS; LAPLACE TRANSFORMS; MOBILE ROBOTS;

HIGHLY REDUNDANT MANIPULATORS; LAPLACIAN POTENTIAL FIELDS;

MANIPULATORS;

EID: 0031173093     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574797000532     Document Type: Article

References (25)

1. E.S. Conkur & R.O. Buckingham, "Comparison of Jacobian based techniques with potential field technique for controlling highly redundant robots" 2nd Int. Mechatronics Design and Modelling Workshop, Ankara, Turkey (Nov., 1995) pp. 161-170.
2. P. Chiacchio & S. Chiaverini, "Closed-loop inverse kinematic schemes for constrained redundant manipulators with task space augmentation and task priority strategy" Int. J. Robotics Research 10, No. 4, 440-425 (1991).
3. Y. Nakamura, Advanced Robotics Redundance and Optimisation (Addison-Wesley Pub. Company, Reading, Mass., 1991).
4. A. Graham & R. Buckingham, "Real time collision avoidance of manipulators with multiple redundancy" Mechatronics 3, No. 1, 89-106 (1993).
5. S. Ma, S. Hirose & H. Yoshinada, "Development of a hyper-redundant manipulator for maintenance of nuclear reactor" Advanced Robotics 9, No. 3, 281-300 (1995).
6. S. Seereeram & J.T. Wen, "A global approach to path planning for redundant manipulators" IEEE Transactions on Robotics and Automation 11, No. 1, 152-160 (1995).
7. R.J. Schilling & G. Walker, "Path tracking with the links of a planar hyper-redundant robotic manipulator" J. Robotic Systems 12, No. 3, 189-197 (1995).
8. D.N. Nenchev, "Restricted Jacobian matrices of redundant manipulators in constrained motion tasks" Int. J. Robotic Research 11, No. 6, 584-597 (1992).
9. C. Klein & C. Huang, "Review of pseudoinverse control for use with kinematically redundant manipulators" IEEE Trans. Sys. Man Cybernet. SMC 13, 245-250 (1983).
10. A.A. Macicjewski & C.A. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments" Int. J. Robotics Research 4, No. 3, 109-117 (1985).
11. N. Rahmanian-Shahri & I. Troch, "Collision-avoidance control for redundant articulated robots" Roboika, 15, part 2. 159-168 (1995).
12. R.V. Mayorga, F. Janabi-Sharifi & A.K.C. Wong, "A fast approach for the robust trajectory planning of redundant robot manipulators" J. Robotic Systems 12, No. 2. 147-161 (1995).
13. A Bagchi & H. Hatwal, "Fuzzy logic-based techniques for motion planning of a robot manipulator amongst unknown moving obstacles" Robotica 10, part 6, 563-573 (1992).
14. M. Sharir, "Algorithmic motion planning in robotics" IEEE Computer 22, No. 3, 9-20 (1989).
15. E.S.H. Hou & D. Zheng, "Mobile robot path planning based on hierarchical hexagonal decomposition and artificial potential fields" J. Robotic Systems 11, No. 7, 605-614 (1994).
16. A. Denker & D.P. Atherton, "No-overshoot control of robotic manipulators in the presence of obstacles" J. Robotic Systems 11, No. 7, 665-678 (1994).
17. A. Scnweikard, "A simple path strategy based on calculation of free sections of motions" Engng. Applic. Artif. Intell. 5, No. 1, 1-10 (1992).
18. K.K. Gupta & Z. Guo, "Motion planning with many degrees of freedom: sequential search with backtracking" IEEE International Conference on Robotics and Automation (1992) pp. 2328-2333.
19. K.K. Gupta & X. Zhu, "Practical global motion planning for many degree of freedom: a novel approach within sequential framework" J. Robotics Systems 12, No. 2, 105-107 (1995).
20. J.Z. Li & M.B. Trabia, "Adaptive path planning and obstacle avoidance for a robot with a large degree of redundancy" J. Robotic Systems 13, No. 3, 163-176 (1996).
21. D. Reznik & V. Lumelsky, "Sensor-based motion planning for highly redundant kinematic structures: II The Case of a Snake Arm Manipulator", IEEE International Conference on Robotics and Automation (1993) pp. 889-894.
22. D. Reznik & V. Lumelsky, "Sensor-based motion planning for highly redundant snake robot" Advanced Robotics 9, No. 3, 255-280 (1995).
23. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots" Int. J. Robotics Research 5, No. 1, 90-98 (1986).
24. J. Tim & P. Khosla, "Real-time obstacle avoidance using harmonic potential functions" IEEE International Conference on Robotics and Automation (1990) pp. 790-796.
25. D.E. Koditschek, "Exact robot navigation by means of potential functions: some topological considerations" IEEE International Conference on Robotics and Automation (1987) pp. 1-6.