A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the sub-task objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is bein...

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Main Authors: Mehmet Ismet Can Dede, Omar W. Maaroof, Enver Tatlicioglu
Format: Article
Language:English
Published: SAGE Publishing 2016-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/62471
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spelling doaj-f6fe061f51f24e548654f4e557aec97c2020-11-25T03:06:44ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-03-011310.5772/6247110.5772_62471A New Objective Function for Obstacle Avoidance by Redundant Service Robot ArmsMehmet Ismet Can Dede0Omar W. Maaroof1Enver Tatlicioglu2 Izmir Institute of Technology, Izmir, Turkey Izmir Institute of Technology, Izmir, Turkey Izmir Institute of Technology, Izmir, TurkeyThe performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the sub-task objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-of-freedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.https://doi.org/10.5772/62471
collection DOAJ
language English
format Article
sources DOAJ
author Mehmet Ismet Can Dede
Omar W. Maaroof
Enver Tatlicioglu
spellingShingle Mehmet Ismet Can Dede
Omar W. Maaroof
Enver Tatlicioglu
A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
International Journal of Advanced Robotic Systems
author_facet Mehmet Ismet Can Dede
Omar W. Maaroof
Enver Tatlicioglu
author_sort Mehmet Ismet Can Dede
title A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
title_short A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
title_full A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
title_fullStr A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
title_full_unstemmed A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
title_sort new objective function for obstacle avoidance by redundant service robot arms
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2016-03-01
description The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the sub-task objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-of-freedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.
url https://doi.org/10.5772/62471
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