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Obstacle Avoidance with Industrial Robots

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Motion and Operation Planning of Robotic Systems

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 29))

Abstract

One of the important features that a robot must possess when working in an unstructured environment is the ability to deal with objects. Such objects can be a part of the task, e.g., in assembly operations, or they can represent an obstacle. In the case when contact with the objects is not desired, the main issue is how to perform the desired task without any risk of collisions with the objects in the workspace. A general strategy for obstacle avoidance is to reconfigure the robot so that it is not in the contact with the obstacle. However, a reconfiguration without changing the task motion is only feasible if the robot has sufficient redundant degrees of freedom (DOFs). In this chapter we present different approaches to the control methods of redundant robot manipulators performing multiple tasks with obstacle avoidance. The pros and cons of the presented methods and the differences between them are also discussed. The performance of the methods is also demonstrated by simulation and on real robots.

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Authors and Affiliations

  1. Department for Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova Cesta 39, Ljubljana, Slovenia

    T. Petrič, A. Gams, N. Likar & L. Žlajpah

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  1. T. Petrič
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  2. A. Gams
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  3. N. Likar
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  4. L. Žlajpah
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Correspondence to L. Žlajpah .

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Editors and Affiliations

  1. University of Cassino, Cassino, Frosinone, Italy

    Giuseppe Carbone

  2. Engineering School, University of Huelva, La Rábida, Huelva, Spain

    Fernando Gomez-Bravo

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Petrič, T., Gams, A., Likar, N., Žlajpah, L. (2015). Obstacle Avoidance with Industrial Robots. In: Carbone, G., Gomez-Bravo, F. (eds) Motion and Operation Planning of Robotic Systems. Mechanisms and Machine Science, vol 29. Springer, Cham. https://doi.org/10.1007/978-3-319-14705-5_5

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  • DOI: https://doi.org/10.1007/978-3-319-14705-5_5

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