This paper presents a simple and robust approach to achieving collision avoidance for kinematically redundant manipulators at the control-loop level. The proposed scheme represents the obstacle avoidance requirement as inequality constraints in the manipulator workspace, and ensures that these inequalities are satisfied while the end-effector tracks the desired trajectory. The control scheme is th...Show More
This paper describes the design and implementation of a real-time control system with multiple modes of operation for a mobile redundant dexterous manipulator. The manipulator under study is a seven degree-of-freedom (DOF) arm from Robotics Research Corporation, mounted on a motorized platform. The manipulator-plus-platform system has 2-DOF for the task of hand placement and orientation. The redun...Show More
A simple and robust approach to online collision avoidance for kinematically redundant manipulators is presented. The scheme represents obstacles as inequality constraints in the manipulator workspace and ensures that these inequalities are satisfied while the end-effector tracks the desired trajectory. The control scheme is the damped-least-squares formulation of the configuration control approac...Show More
