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A practical implementation of the virtual forces method for the obstacle avoidance of a multi-arm sp
Robot Control, Volume # 8 | Part# 1
Authors
M. Fumagalli; P. Guagliardo; F. Fusco; A. Rusconi
Identifier
10.3182/20060906-3-IT-2910.00122
Index Terms
collision,control,space,robot,manipulator,obstacle,forces,arm
Abstract
This paper presents a practical implementation of a collision avoidance algorithm that is based on the use of virtual forces, applied to a space robot composed of three arms, each one having seven degrees of freedom. To uniquely determine joint angles for a given end-effector position and orientation, the redundancy is parameterized by a scalar variable which corresponds to an angle between the arm plane and a reference plane. A pseudoinverse based kinematics is used to avoid problems due to singularity. A new control scheme is proposed with a discharge factor to control the transition between the free space and the obstacle threshold.
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