Obstacle avoidance for redundant robots using Jacobian transpose method
Conventional approaches for collision avoidance often use the gradient projection method on minimum distance function. This paper discusses several shortcomings to draw special attention when it is applied to avoid collision with multiple obstacles. As a remedy to the identified problems, a novel me...
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| creator | Kwang-Kyu Lee Buss, M. |
| description | Conventional approaches for collision avoidance often use the gradient projection method on minimum distance function. This paper discusses several shortcomings to draw special attention when it is applied to avoid collision with multiple obstacles. As a remedy to the identified problems, a novel method of collision avoidance based on Jacobian transpose method is proposed, which does not require to calculate the gradient of the minimum distance function, hence resulting in a computationally simple algorithm. In addition, an efficient collision detection algorithm for all possible spatial as well as planar configurations is presented. Simulation results with a four Degrees of Freedom planar manipulator are given to illustrate the several shortcomings of conventional methods and to validate the proposed method. |
| doi_str_mv | 10.1109/IROS.2007.4399182 |
| format | Conference Proceeding |
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This paper discusses several shortcomings to draw special attention when it is applied to avoid collision with multiple obstacles. As a remedy to the identified problems, a novel method of collision avoidance based on Jacobian transpose method is proposed, which does not require to calculate the gradient of the minimum distance function, hence resulting in a computationally simple algorithm. In addition, an efficient collision detection algorithm for all possible spatial as well as planar configurations is presented. Simulation results with a four Degrees of Freedom planar manipulator are given to illustrate the several shortcomings of conventional methods and to validate the proposed method.</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 9781424409112</identifier><identifier>ISBN: 142440911X</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 1424409128</identifier><identifier>EISBN: 9781424409129</identifier><identifier>DOI: 10.1109/IROS.2007.4399182</identifier><identifier>LCCN: 2007694096</identifier><language>eng</language><publisher>IEEE</publisher><subject>Collision avoidance ; Detection algorithms ; Intelligent robots ; Jacobian matrices ; Kinematics ; Manipulators ; Mobile robots ; Path planning ; Production facilities ; Robotic assembly</subject><ispartof>2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, p.3509-3514</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4399182$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4399182$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Kwang-Kyu Lee</creatorcontrib><creatorcontrib>Buss, M.</creatorcontrib><title>Obstacle avoidance for redundant robots using Jacobian transpose method</title><title>2007 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>Conventional approaches for collision avoidance often use the gradient projection method on minimum distance function. This paper discusses several shortcomings to draw special attention when it is applied to avoid collision with multiple obstacles. As a remedy to the identified problems, a novel method of collision avoidance based on Jacobian transpose method is proposed, which does not require to calculate the gradient of the minimum distance function, hence resulting in a computationally simple algorithm. In addition, an efficient collision detection algorithm for all possible spatial as well as planar configurations is presented. Simulation results with a four Degrees of Freedom planar manipulator are given to illustrate the several shortcomings of conventional methods and to validate the proposed method.</description><subject>Collision avoidance</subject><subject>Detection algorithms</subject><subject>Intelligent robots</subject><subject>Jacobian matrices</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Mobile robots</subject><subject>Path planning</subject><subject>Production facilities</subject><subject>Robotic assembly</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>9781424409112</isbn><isbn>142440911X</isbn><isbn>1424409128</isbn><isbn>9781424409129</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kN1Kw0AUhNefgm3tA4g3-wKp55zdZLOXUrRWCgHtfTlJdjXSZks2FXx7I1avhuGDYWaEuEGYI4K9W70Ur3MCMHOtrMWczsQENWkNFik_F2PCVCWQZ9mFmFmT_zGky3-W5iMx-cnI7ICyKzGL8QMA0GQakMZiWZSx52rnJH-Gpua2ctKHTnauPraD7WUXytBHeYxN-yafuQplw63sO27jIUQn965_D_W1GHneRTc76VRsHh82i6dkXSxXi_t10ljoE2UcEWn0JSiLtfE5-GEqpA50aZUhSp2vLBMwGGK2Cm1FfiiriA1kaipuf2Mb59z20DV77r62p3_UN9aoUdM</recordid><startdate>200710</startdate><enddate>200710</enddate><creator>Kwang-Kyu Lee</creator><creator>Buss, M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200710</creationdate><title>Obstacle avoidance for redundant robots using Jacobian transpose method</title><author>Kwang-Kyu Lee ; Buss, M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-37e22241fb0391d7f80f10905e04b937225efc9a20a072aa9319c2f76432a7063</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Collision avoidance</topic><topic>Detection algorithms</topic><topic>Intelligent robots</topic><topic>Jacobian matrices</topic><topic>Kinematics</topic><topic>Manipulators</topic><topic>Mobile robots</topic><topic>Path planning</topic><topic>Production facilities</topic><topic>Robotic assembly</topic><toplevel>online_resources</toplevel><creatorcontrib>Kwang-Kyu Lee</creatorcontrib><creatorcontrib>Buss, M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kwang-Kyu Lee</au><au>Buss, M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Obstacle avoidance for redundant robots using Jacobian transpose method</atitle><btitle>2007 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2007-10</date><risdate>2007</risdate><spage>3509</spage><epage>3514</epage><pages>3509-3514</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>9781424409112</isbn><isbn>142440911X</isbn><eisbn>1424409128</eisbn><eisbn>9781424409129</eisbn><abstract>Conventional approaches for collision avoidance often use the gradient projection method on minimum distance function. This paper discusses several shortcomings to draw special attention when it is applied to avoid collision with multiple obstacles. As a remedy to the identified problems, a novel method of collision avoidance based on Jacobian transpose method is proposed, which does not require to calculate the gradient of the minimum distance function, hence resulting in a computationally simple algorithm. In addition, an efficient collision detection algorithm for all possible spatial as well as planar configurations is presented. Simulation results with a four Degrees of Freedom planar manipulator are given to illustrate the several shortcomings of conventional methods and to validate the proposed method.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2007.4399182</doi><tpages>6</tpages></addata></record> |
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| subjects | Collision avoidance Detection algorithms Intelligent robots Jacobian matrices Kinematics Manipulators Mobile robots Path planning Production facilities Robotic assembly |
| title | Obstacle avoidance for redundant robots using Jacobian transpose method |
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