An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control
An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2013-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2013/842717 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849468225507557376 |
|---|---|
| author | Masafumi Hamaguchi Takao Taniguchi |
| author_facet | Masafumi Hamaguchi Takao Taniguchi |
| author_sort | Masafumi Hamaguchi |
| collection | DOAJ |
| description | An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments. |
| format | Article |
| id | doaj-art-ffc976f52df2434fbaab8b76c31a3dba |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-ffc976f52df2434fbaab8b76c31a3dba2025-08-20T03:25:54ZengWileyJournal of Robotics1687-96001687-96192013-01-01201310.1155/2013/842717842717An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance ControlMasafumi Hamaguchi0Takao Taniguchi1Interdisciplinary Graduate School of Science and Engineering, Shimane University, 1060 Nishikawatsu-cho, Matsue-shi, Shimane 690-8504, JapanInterdisciplinary Graduate School of Science and Engineering, Shimane University, 1060 Nishikawatsu-cho, Matsue-shi, Shimane 690-8504, JapanAn obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments.http://dx.doi.org/10.1155/2013/842717 |
| spellingShingle | Masafumi Hamaguchi Takao Taniguchi An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control Journal of Robotics |
| title | An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control |
| title_full | An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control |
| title_fullStr | An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control |
| title_full_unstemmed | An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control |
| title_short | An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control |
| title_sort | obstacle avoidance method for action support 7 dof manipulators using impedance control |
| url | http://dx.doi.org/10.1155/2013/842717 |
| work_keys_str_mv | AT masafumihamaguchi anobstacleavoidancemethodforactionsupport7dofmanipulatorsusingimpedancecontrol AT takaotaniguchi anobstacleavoidancemethodforactionsupport7dofmanipulatorsusingimpedancecontrol AT masafumihamaguchi obstacleavoidancemethodforactionsupport7dofmanipulatorsusingimpedancecontrol AT takaotaniguchi obstacleavoidancemethodforactionsupport7dofmanipulatorsusingimpedancecontrol |