Abstract
In this paper, we propose a collision and singularity avoidance path planning of 6-DOF dual-arm manipulator. A manipulator with free DOF has an infinite solution depending on the position of the end effector, and it requires avoidance of singularities. The value of the joint can’t be determined, which means that falling into a singularity trap. So we propose a path planning for end-effectors by applying singularity avoidance using artificial ellipses obtained from Jacobian matrices and applying them with Artificial Potential Fields. The dual - arm manipulator solves this problem by using the manipulability measure and generates a path that avoids the singularity. Because Inverse Kinematics has much value as the D.O.F increases. Next, it merges with APF (Artificial Potential Field) planning is verified through experiments.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Man, C.-H., Fan, X., Li, C.-R., Zhao, Z.-H.: Kinematics analysis based on screw theory of a humanoid robot. J. China Univ. Min. Technol. 17(1), 49–52 (2007)
Nie, L., Huang, Q.: Inverse kinematics for 6-DOF manipulator by the method of sequential retrieval. In: Proceedings of the International Conference on Mechanical Engineering and Material Science, China, pp. 255–258 (2012)
Lee, J., Kim, J., Lee, J., Kim, D., Lim, H., Ryu, S.: Inverse kinematics solution and optimal motion planning for industrial robots with redundancy. J. Korea Robot. Soc. 7(1), 35–44 (2012)
Tevatia, G., Schaal, S.: Inverse kinematics for humanoid robots. In: IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, USA, pp. 294–299 (2000)
Iqbal, J., ul Islam, R., Khan, H.: Modeling and analysis of a 6 DOF robotic arm manipulator. Can. J. Electr. Electron. Eng. 3, 300–306 (2012)
Guldner, J.K., Utkin, V.I.: Sliding mode control for gradient tracking and robot navigation using artificial potential fields. IEEE Trans. Robot. Autom. 11(2), 247–254 (1995)
Nam, Y.S., Lee, B.H., Ko, N.Y. : A view time based artificial potential field method for moving obstacle avoidance. Inst. Electron. Eng. Korea, 44–49 (1995)
Warren, C.W.: Global path planning using artificial potential fields. In: IEEE International Conference on Robotics and Automation (2002)
Lee, S.-W., Nam, Y.-S.: An algorithm for collision avoidance of two-arm robot manipulator using redundancy. Korea Inst. Inf. Commun. Eng. 7(5), 1002–1012 (2003)
On, S.H., Jeon, H.T.: Determination of the minimum number of intermediate points for the robot manipulator cartesian straight motion. Inst. Electron. Eng. Korea 25(2), 144–151 (1988)
Shukla, A., Singla, E., Wahi, P., Dasgupta, B.: A direct variational method for planning monotonically optimal paths for redundant manipulators in constrained workspaces. Robot. Auton. Syst., 209–220 (2013)
Sung, Y.W., Chu, B.: Optimal motion planning in sealing robot. Inst. Electron. Eng. Korea, 842–845 (2012)
Lacevic, B., Rocco, P., Zanchettin, A.M.: Safety assessment and control of robotic manipulators using danger field. IEEE Trans. Robot. 29(5) (2013)
Acknowledgment
This research is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under Industrial Technology Innovation Program. No. 10073147.
This research was financially supported by the Ministry of trade, Industry and Energy (MOTIE), Korea Institute for Advancement of Technology (KIAT) through the Robot Business Belt Development Project (A012000009).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Switzerland AG
About this paper
Cite this paper
Kim, DE., Park, DJ., Park, JH., Lee, JM. (2018). Collision and Singularity Avoidance Path Planning of 6-DOF Dual-Arm Manipulator. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_17
Download citation
DOI: https://doi.org/10.1007/978-3-319-97589-4_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-97588-7
Online ISBN: 978-3-319-97589-4
eBook Packages: Computer ScienceComputer Science (R0)