TR-IIS-01-010    pdffile

Jin-Liang Chen and Jing-Sin Liu

Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan, R.O.C., 
Email: casper@iis.sinica.edu.tw and liu@iis.sinica.edu.tw 

The redundant manipulator has the advantage to generate the same configuration of the end-effector with infinite number of joint motion, which increases dexterity and versatility for performing multi-task at the end-effector and self-motion of robotic body. In this report, we propose a principle useful for on-line globally planning postures of the redundant manipulator. For obstacle avoidance, a technique is proposed to on-line generate collision-free joint velocities for self-motion of robotic body based on the incorporation of the principle and the pseudoinverse control. Simulations were implemented in the 2D static and dynamic environments in which obstacles were represented as convex polygons, which verify the good performances of collision avoidance using the proposed technique. 

Key word: collision avoidance, redundant manipulator, posture generation, on-line, and dynamic environment.