Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles
Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obsta...
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2021-02-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.1177/1729881421996148 |
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doaj-95c0e9fc92764d6ea3eb6a4a9ac0d7202021-03-02T00:03:24ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142021-02-011810.1177/1729881421996148Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstaclesLiangliang ZhaoZainan JiangYongjun SunJingdong ZhaoHong LiuHyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obstacles. Our optimization-based algorithm simultaneously handles the task space constraints, the joint limit constraints, and the collision-free constraints for hyper-redundant manipulators based on the generalized framework. Second, we present an extension of our inverse kinematic algorithm to collision avoidance for the hyper-redundant manipulators, where the workspaces may have different types of obstacles. We highlight the performance of our algorithm on hyper-redundant manipulators with various degrees of freedom. The results show that our algorithm has made full use of dexterity of hyper-redundant manipulators in complex environments, enhancing the performance and increasing the flexibility.https://doi.org/10.1177/1729881421996148 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Liangliang Zhao Zainan Jiang Yongjun Sun Jingdong Zhao Hong Liu |
spellingShingle |
Liangliang Zhao Zainan Jiang Yongjun Sun Jingdong Zhao Hong Liu Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles International Journal of Advanced Robotic Systems |
author_facet |
Liangliang Zhao Zainan Jiang Yongjun Sun Jingdong Zhao Hong Liu |
author_sort |
Liangliang Zhao |
title |
Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles |
title_short |
Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles |
title_full |
Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles |
title_fullStr |
Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles |
title_full_unstemmed |
Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles |
title_sort |
collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2021-02-01 |
description |
Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obstacles. Our optimization-based algorithm simultaneously handles the task space constraints, the joint limit constraints, and the collision-free constraints for hyper-redundant manipulators based on the generalized framework. Second, we present an extension of our inverse kinematic algorithm to collision avoidance for the hyper-redundant manipulators, where the workspaces may have different types of obstacles. We highlight the performance of our algorithm on hyper-redundant manipulators with various degrees of freedom. The results show that our algorithm has made full use of dexterity of hyper-redundant manipulators in complex environments, enhancing the performance and increasing the flexibility. |
url |
https://doi.org/10.1177/1729881421996148 |
work_keys_str_mv |
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1724245587157581824 |