Obstacle avoidance of a redundant robot using virtual force field and null space projection

Yiming Jiang, Chenguang Yang, Zhaojie Ju, Jinguo Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This paper presents a novel algorithm for redundant robot control when obstacles are approaching to the robot. The proposed controller is constructed by a multi-hierarchy control framework where a main task controller is designed to track a given Cartesian space trajectory and an extra impedance controller is developed in the null space to guarantee compliant joint motion. A virtual force field is designed and applied on the robot body to achieve the goal of the avoidance of the obstacle. Simulation studies illustrated the proposed controller is not only to guarantee the task space control, but also able to avoid the obstacle by joint movements.
Original languageEnglish
Title of host publicationIntelligent Robotics and Applications
Subtitle of host publication12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part I
EditorsHaibin Yu, Jinguo Liu, Lianqing Liu, Zhaojie Ju, Yuwang Liu, Dalin Zhou
PublisherSpringer
Chapter64
Pages728-739
Number of pages12
ISBN (Electronic)978-3-030-27526-6
ISBN (Print)978-3-030-27525-9
DOIs
Publication statusPublished - 2 Aug 2019
Event12th International Conference on Intelligent Robotics and Applications - Shenyang, China
Duration: 8 Aug 201911 Aug 2019

Publication series

NameLecture Notes in Computer Science
PublisherSpringer
Volume11740
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349
NameLecture Notes in Artificial Intelligence
PublisherSpringer
Volume11740
ISSN (Print)0302-9743
ISSN (Electronic)1611-3649

Conference

Conference12th International Conference on Intelligent Robotics and Applications
Abbreviated titleICIRA 2019
CountryChina
CityShenyang
Period8/08/1911/08/19

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