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Preserved in Portico This version is not peer-reviewed
Obstacle Avoidance in Operational Configuration Space Kinematic Control of Redundant Serial Manipulators
Version 1
: Received: 13 November 2023 / Approved: 14 November 2023 / Online: 14 November 2023 (15:16:49 CET)
A peer-reviewed article of this Preprint also exists.
Peidro, A.; Haug, E.J. Obstacle Avoidance in Operational Configuration Space Kinematic Control of Redundant Serial Manipulators. Machines 2024, 12, 10. Peidro, A.; Haug, E.J. Obstacle Avoidance in Operational Configuration Space Kinematic Control of Redundant Serial Manipulators. Machines 2024, 12, 10.
Abstract
Kinematic control of redundant serial manipulators has been carried out for the past half century based primarily on a generalized inverse velocity formulation that is known to have mathematical deficiencies. A recently developed inverse kinematic position mapping is extended to an operational configuration space differentiable manifold formulation for kinematic control with obstacle avoidance is employed to resolve deficiencies in the generalized inverse velocity formulation. Output trajectory tracking with obstacle avoidance for four and twenty degree of redundancy manipulators is carried out to demonstrate the effectiveness of the differentiable manifold approach and that it resolves deficiencies of the conventional generalized inverse velocity formulation.
Keywords
Obstacle Avoidance; Kinematic Control; Redundant Manipulators; Manipulator Differentiable Manifold
Subject
Engineering, Control and Systems Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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