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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Yang, C., Ganesh, G., Haddadin, S., Parusel, S., Albu-Schaeffer, A., Burdet, E.: Human-like adaptation of force and impedance in stable and unstable interactions. IEEE Trans. Robot. 27(5), 918–930 (2011)
Li, Y., Ge, S.S., Yang, C., Li, X., Tee, K.P.: Model-free impedance control for safe human-robot interaction. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 6021–6026. IEEE (2011)
Yang, C., Huang, K., Cheng, H., Li, Y., Su, C.-Y.: Haptic identification by ELM-controlled uncertain manipulator. IEEE Trans. Syst. Man Cybern.: Syst. 47(8), 2398–2409 (2017)
Tonietti, G., Schiavi, R., Bicchi, A.: Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, pp. 526–531. IEEE (2005)
Kong, K., Bae, J., Tomizuka, M.: Control of rotary series elastic actuator for ideal force-mode actuation in human–robot interaction applications. IEEE/ASME Trans. Mechatron. 14(1), 105–118 (2009)
Edsinger, A., Kemp, C.C.: Human-robot interaction for cooperative manipulation: handing objects to one another. In: The 16th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2007, pp. 1167–1172. IEEE (2007)
Doty, K.L., Melchiorri, C., Bonivento, C.: A theory of generalized inverses applied to robotics. Int. J. Robot. Res. 12(1), 1–19 (1993)
Zhang, Y., Wang, J., Xu, Y.: A dual neural network for bi-criteria kinematic control of redundant manipulators. IEEE Trans. Robot. Autom. 18(6), 923–931 (2002)
da Graça Marcos, M., Machado, J.T., Azevedo-Perdicoúlis, T.-P.: Trajectory planning of redundant manipulators using genetic algorithms. Commun. Nonlinear Sci. Numer. Simul. 14(7), 2858–2869 (2009)
Hsu, P., Mauser, J., Sastry, S.: Dynamic control of redundant manipulators. J. Robot. Syst. 6(2), 133–148 (1989)
Nemec, B., Žlajpah, L., Omrčen, D.: Comparison of null-space and minimal null-space control algorithms. Robotica 25(5), 511–520 (2007)
Nakamura, Y., Hanafusa, H., Yoshikawa, T.: Task-priority based redundancy control of robot manipulators. Int. J. Robot. Res. 6(2), 3–15 (1987)
Daachi, B., Madani, T., Benallegue, A.: Adaptive neural controller for redundant robot manipulators and collision avoidance with mobile obstacles. Neurocomputing 79, 50–60 (2012)
Baillieul, J.: Avoiding obstacles and resolving kinematic redundancy. In: Proceedings of the 1986 IEEE International Conference on Robotics and Automation, vol. 3, pp. 1698–1704. IEEE (1986)
Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: Cox, I.J., Wilfong, G.T. (eds.) Autonomous Robot Vehicles, pp. 396–404. Springer, New York (1986). https://doi.org/10.1007/978-1-4613-8997-2_29
Hwang, Y.K., Ahuja, N.: A potential field approach to path planning. IEEE Trans. Robot. Autom. 8(1), 23–32 (1992)
Nemec, B., Zlajpah, L.: Force control of redundant robots in unstructured environment. IEEE Trans. Ind. Electron. 49(1), 233–240 (2002)
Kavraki, L.E., Svestka, P., Latombe, J., Overmars, M.H.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robot. Autom. 12(4), 566–580 (1996)
LaValle, S.M., Kuffner Jr., J.J.: Rapidly-exploring random trees: progress and prospects (2000)
Acknowledgement
This work was partially supported by National Nature Science Foundation (NSFC) under Grants 61861136009 and 61811530281.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Jiang, Y., Yang, C., Ju, Z., Liu, J. (2019). 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. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_64
Download citation
DOI: https://doi.org/10.1007/978-3-030-27526-6_64
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27525-9
Online ISBN: 978-3-030-27526-6
eBook Packages: Computer ScienceComputer Science (R0)