A potential-based path planning algorithm for hyper-redundant manipulators

Chien Chou Lin*, Jen-Hui Chuang

*Corresponding author for this work

Research output: Contribution to journalArticle

8 Scopus citations

Abstract

A novel collision avoidance algorithm based on the generalized potential model is proposed to solve the path-planning problem of hyper-redundant manipulators in 3-D workspace. The approach computes repulsive force and torque between manipulator and obstacles by using the workspace information directly. A collision-free path for a manipulator can then be obtained by locally adjusting the manipulator configuration to search for minimum potential configurations using these forces and torques. The proposed approach is efficient since these potential gradients are analytically tractable. Furthermore, the proposed algorithm is also extended to dual-arm systems. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance.

Original languageEnglish
Pages (from-to)415-427
Number of pages13
JournalJournal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an
Volume33
Issue number3
DOIs
StatePublished - 1 Jan 2010

Keywords

  • Hyper-redundant manipulators
  • Manipulator path planning
  • Motion planning
  • Potential field

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