Graphics enhanced version of this site

Planning Collision-Free Motions for Underactuated Manipulators in Constrained Configuration Space
M. Bergerman and Y. Xu
IEEE International Conference on Robotics and Automation, April, 1997, pp. 549-555.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [42 KB]
Compressed postscript (ps.gz) [284 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

We propose a method to drive an underactuated manipulator among obstacles in its workspace. The method allows for collision-free trajectories to be generated from the dynamic equations of the manipulator. When the passive joints are locked, these trajectories lie on surfaces parallel to the axes of the active joints. When the passive joints are free, the trajectories lie on surfaces determined by the nonholonomic constraints imposed by the lack of actuation at the passive joints. By switching the joint brakes on and off, we obtain a sequence of trajectories that connect the start and the goal configurations. A robust controller is utilized to ensure that the manipulator follows the pre-planned trajectories closely despite modeling errors and external disturbances. Simulation and experimental studies demonstrate the validity of the proposed theory.

Associated center: VASC

Number of pages: 7

M. Bergerman and Y. Xu, "Planning Collision-Free Motions for Underactuated Manipulators in Constrained Configuration Space," IEEE International Conference on Robotics and Automation, April, 1997, pp. 549-555.

@inproceedings{Bergerman_1997_965,
   author = "Marcel Bergerman and Yangsheng Xu",
   title = "Planning Collision-Free Motions for Underactuated Manipulators in Constrained Configuration Space",
   booktitle = "IEEE International Conference on Robotics and Automation",
   month = "April",
   year = "1997",
   pages = "549-555"
}