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

Yiming  Jiang; Chenguang Yang; Zhaojie Ju; Jinguo Liu

doi:10.1007/978-3-030-27526-6_64

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

Yiming Jiang
, Chenguang Yang
, Zhaojie Ju
, Jinguo Liu

Chinese Academy of Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

477 Downloads (Pure)

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 language	English
Title of host publication	Intelligent Robotics and Applications
Subtitle of host publication	12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part I
Editors	Haibin Yu, Jinguo Liu, Lianqing Liu, Zhaojie Ju, Yuwang Liu, Dalin Zhou
Publisher	Springer
Chapter	64
Pages	728-739
Number of pages	12
ISBN (Electronic)	978-3-030-27526-6
ISBN (Print)	978-3-030-27525-9
DOIs	https://doi.org/10.1007/978-3-030-27526-6_64
Publication status	Published - 2 Aug 2019
Event	12th International Conference on Intelligent Robotics and Applications - Shenyang, China Duration: 8 Aug 2019 → 11 Aug 2019

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer
Volume	11740
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Name	Lecture Notes in Artificial Intelligence
Publisher	Springer
Volume	11740
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3649

Conference

Conference	12th International Conference on Intelligent Robotics and Applications
Abbreviated title	ICIRA 2019
Country/Territory	China
City	Shenyang
Period	8/08/19 → 11/08/19

Access to Document

10.1007/978-3-030-27526-6_64

Jiang_Obstacle Avoidance of a Redundant Robot_ICIRA2019_376_final_v4
This is a post-peer-review, pre-copyedit version of an article published inIntelligent Robotics and Applications. ICIRA 2019. The final authenticated version is available online at: http://dx.doi.org/10.1007/978-3-030-27526-6_64.
Accepted author manuscript (Post-print), 660 KB

Cite this

Jiang, Y., Yang, C., Ju, Z., & Liu, J. (2019). Obstacle avoidance of a redundant robot using virtual force field and null space projection. In H. Yu, J. Liu, L. Liu, Z. Ju, Y. Liu, & D. Zhou (Eds.), Intelligent Robotics and Applications: 12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part I (pp. 728-739). (Lecture Notes in Computer Science; Vol. 11740), (Lecture Notes in Artificial Intelligence; Vol. 11740). Springer. https://doi.org/10.1007/978-3-030-27526-6_64

Jiang, Yiming ; Yang, Chenguang ; Ju, Zhaojie et al. / Obstacle avoidance of a redundant robot using virtual force field and null space projection. Intelligent Robotics and Applications: 12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part I. editor / Haibin Yu ; Jinguo Liu ; Lianqing Liu ; Zhaojie Ju ; Yuwang Liu ; Dalin Zhou. Springer, 2019. pp. 728-739 (Lecture Notes in Computer Science). (Lecture Notes in Artificial Intelligence).

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title = "Obstacle avoidance of a redundant robot using virtual force field and null space projection",

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.",

author = "Yiming Jiang and Chenguang Yang and Zhaojie Ju and Jinguo Liu",

year = "2019",

month = aug,

day = "2",

doi = "10.1007/978-3-030-27526-6\_64",

language = "English",

isbn = "978-3-030-27525-9",

series = "Lecture Notes in Computer Science",

publisher = "Springer",

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editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Zhaojie Ju and Yuwang Liu and Dalin Zhou",

booktitle = "Intelligent Robotics and Applications",

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note = "12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",

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Jiang, Y, Yang, C, Ju, Z & Liu, J 2019, Obstacle avoidance of a redundant robot using virtual force field and null space projection. in H Yu, J Liu, L Liu, Z Ju, Y Liu & D Zhou (eds), Intelligent Robotics and Applications: 12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part I. Lecture Notes in Computer Science, vol. 11740, Lecture Notes in Artificial Intelligence, vol. 11740, Springer, pp. 728-739, 12th International Conference on Intelligent Robotics and Applications, Shenyang, China, 8/08/19. https://doi.org/10.1007/978-3-030-27526-6_64

Obstacle avoidance of a redundant robot using virtual force field and null space projection. / Jiang, Yiming ; Yang, Chenguang; Ju, Zhaojie et al.
Intelligent Robotics and Applications: 12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part I. ed. / Haibin Yu; Jinguo Liu; Lianqing Liu; Zhaojie Ju; Yuwang Liu; Dalin Zhou. Springer, 2019. p. 728-739 (Lecture Notes in Computer Science; Vol. 11740), (Lecture Notes in Artificial Intelligence; Vol. 11740).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Obstacle avoidance of a redundant robot using virtual force field and null space projection

AU - Jiang, Yiming

AU - Yang, Chenguang

AU - Ju, Zhaojie

AU - Liu, Jinguo

PY - 2019/8/2

Y1 - 2019/8/2

N2 - 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.

AB - 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.

U2 - 10.1007/978-3-030-27526-6_64

DO - 10.1007/978-3-030-27526-6_64

M3 - Conference contribution

SN - 978-3-030-27525-9

T3 - Lecture Notes in Computer Science

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EP - 739

BT - Intelligent Robotics and Applications

A2 - Yu, Haibin

A2 - Liu, Jinguo

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PB - Springer

T2 - 12th International Conference on Intelligent Robotics and Applications

Y2 - 8 August 2019 through 11 August 2019

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Jiang Y, Yang C, Ju Z, Liu J. Obstacle avoidance of a redundant robot using virtual force field and null space projection. In Yu H, Liu J, Liu L, Ju Z, Liu Y, Zhou D, editors, Intelligent Robotics and Applications: 12th International Conference, ICIRA 2019, Shenyang, China, August 8–11, 2019, Proceedings, Part I. Springer. 2019. p. 728-739. (Lecture Notes in Computer Science). (Lecture Notes in Artificial Intelligence). doi: 10.1007/978-3-030-27526-6_64

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

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