An On-Line Path Planner for Industrial Manipulators

An On-Line Path Planner for Industrial Manipulators

In this paper, an on-line path planner for an industrial manipulator is presented. The proposed control architecture is capable of driving the manipulator in its environment while avoiding collisions. Potential fields are used in order to control the joint velocities in such a way that the robot avo...

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Bibliographic Details
Main Authors: Fabrizio Padula, Veronique Perdereau
Format: Article
Language:English
Published: SAGE Publishing 2013-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/55063
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spelling doaj-abdc3a8f9ab848158bbccea94b4fe04b2020-11-25T03:40:52ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-03-011010.5772/5506310.5772_55063An On-Line Path Planner for Industrial ManipulatorsFabrizio Padula0Veronique Perdereau1 Dipartimento di Ingegneria dell'Informazione, University of Brescia - Brescia, Italy ISIR CNRS, Paris, FranceIn this paper, an on-line path planner for an industrial manipulator is presented. The proposed control architecture is capable of driving the manipulator in its environment while avoiding collisions. Potential fields are used in order to control the joint velocities in such a way that the robot avoids the obstacles. We also propose a new weighted pseudoinverse matrix that improves the manipulator capability of finding feasible paths to move around obstacles and pass through narrow corridors without relying on the manipulator dynamic model. The proposed technique fits to both redundant and non-redundant manipulators. Experimental results show the effectiveness of the proposed solution.https://doi.org/10.5772/55063
collection DOAJ
language English
format Article
sources DOAJ
author Fabrizio Padula
Veronique Perdereau
spellingShingle Fabrizio Padula
Veronique Perdereau
An On-Line Path Planner for Industrial Manipulators
International Journal of Advanced Robotic Systems
author_facet Fabrizio Padula
Veronique Perdereau
author_sort Fabrizio Padula
title An On-Line Path Planner for Industrial Manipulators
title_short An On-Line Path Planner for Industrial Manipulators
title_full An On-Line Path Planner for Industrial Manipulators
title_fullStr An On-Line Path Planner for Industrial Manipulators
title_full_unstemmed An On-Line Path Planner for Industrial Manipulators
title_sort on-line path planner for industrial manipulators
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2013-03-01
description In this paper, an on-line path planner for an industrial manipulator is presented. The proposed control architecture is capable of driving the manipulator in its environment while avoiding collisions. Potential fields are used in order to control the joint velocities in such a way that the robot avoids the obstacles. We also propose a new weighted pseudoinverse matrix that improves the manipulator capability of finding feasible paths to move around obstacles and pass through narrow corridors without relying on the manipulator dynamic model. The proposed technique fits to both redundant and non-redundant manipulators. Experimental results show the effectiveness of the proposed solution.
url https://doi.org/10.5772/55063
work_keys_str_mv AT fabriziopadula anonlinepathplannerforindustrialmanipulators
AT veroniqueperdereau anonlinepathplannerforindustrialmanipulators
AT fabriziopadula onlinepathplannerforindustrialmanipulators
AT veroniqueperdereau onlinepathplannerforindustrialmanipulators
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