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A Hybrid Obstacle-Avoidance Method of Spatial Hyper-Redundant Manipulators for Servicing in Confined Space

Published online by Cambridge University Press:  14 January 2019

Zonggao Mu ,
Tianliang Liu ,
Wenfu Xu ,
Yunjiang Lou  and
Bin Liang
Zonggao Mu
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China E-mails: muzonggao@163.com, ltianliang2016@gmail.com, louyj@hit.edu.cn
Tianliang Liu
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China E-mails: muzonggao@163.com, ltianliang2016@gmail.com, louyj@hit.edu.cn
Wenfu Xu*
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China E-mails: muzonggao@163.com, ltianliang2016@gmail.com, louyj@hit.edu.cn
Yunjiang Lou
Affiliation:
The School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China E-mails: muzonggao@163.com, ltianliang2016@gmail.com, louyj@hit.edu.cn
Bin Liang
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 100084, China E-mail: bliang@mail.tsinghua.edu.cn
*
*Corresponding author. E-mail: wfxu@hit.edu.cn
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Summary

Due to a large number of redundant degrees of freedom (DOFs), the hyper-redundant manipulator shows outstanding dexterity and adaptability in avoiding the obstacles in confined space. In this paper, a hybrid obstacle-avoidance method of spatial hyper-redundant manipulators is proposed, with both efficiency and accuracy considered. The space around an obstacle is classified into safe, warning, and dangerous zones. A two-level protection strategy is then addressed to handle the obstacle-avoidance problem from qualitative (i.e., pseudo-distance based on super-quadric function) and quantitative (i.e., Euclidean distance based on practical geometry function) perspectives, respectively. The only condition for switching between the two-level protections is the value of pseudo-distance. Then, a modified modal method, which is a trajectory planning method, is presented to plan the collision-free trajectory of the manipulator by maximizing the minimum pseudo-distance or Euclidean distance in different zones. Some parameters, including the arm-angle parameters and the equivalent link length parameters, are defined to represent the manipulator configuration. They are adjusted to avoid the obstacle, singularity, and joint limit. The simulations of 12-DOF manipulator and an experiment of 18-DOF manipulator verify the proposed methods.

Keywords

Hyper-redundant manipulatorSpace manipulatorObstacle avoidanceModified modal methodConfined space
Type
Articles
Information
Robotica , Volume 37 , Issue 6 , June 2019 , pp. 998 - 1019
Copyright
Copyright © Cambridge University Press 2019 

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