Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment
Abstract
In this paper, we present an iterative kinematics control law for redundant manipulators overcoming some usual problems associated to cluttered environments (constraints violations, oscillations, environment dilatation). The Constraints Compliant Control approach relies on a passive avoidance scheme (no motion generation for constraints avoidance) on a limited number of constraints selected from a vicinity analysis. A scaling solution based on the feasible motions with respect to the constraints enables to reach the frontiers of the workspace. Two missions described as sequences of key frames are simulated to compare the performances of the Constraint Compliant Control with state of the art control laws. The obtained computation times remain acceptable to consider a use in real time.
Domains
Robotics [cs.RO]Origin | Files produced by the author(s) |
---|
Loading...