Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles. (28th February 2021)

• Record Type: Journal Article
• Authors: Zhao, Liangliang; Jiang, Zainan; Sun, Yongjun; Zhao, Jingdong; Liu, Hong
• Is Part Of: International journal of advanced robotic systems. Volume 18:Number 1(2021)
• Publication Date: 2021-02-28
• Subjects: Inverse kinematics -- hyper-redundant manipulators -- collision avoidance -- dynamic scenario; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881421996148
• Languages: English
• ISSNs: 1729-8806

Abstract

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.