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A General Collision-Free Scheme for Redundant Manipulators

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Intelligent Robotics and Applications (ICIRA 2024)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 15203))

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Abstract

Considering manipulation tasks of redundant manipulators in complex environments, this article presents a general scheme that integrates model-based obstacle avoidance, Cartesian space trajectory tracking, and joint physical limit avoidance. Based on the minimum velocity norm scheme, the proposed scheme combines the escape velocity-based obstacle avoidance with Gilbert-Johnson-Keerthi (GJK) algorithm-based critical point detection, empowering the manipulator with model-based obstacle avoidance capabilities. Additionally, a multi-critical point restriction set is proposed, improving the success rate of obstacle avoidance in extreme situations. Moreover, the scheme introduces sampling time to joint physical constraints, ensuring that the physical limits of joints are not violated at the next sampling time. Finally, comparative experiments and simulations are conducted to verify the feasibility and the potential of practical application of the proposed scheme.

Z. Xie, W. Sun and B. Ma—These authors contributed equally.

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Authors and Affiliations

  1. State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, 150080, China

    Zongwu Xie, Wandong Sun, Baoshi Cao, Yang Liu, Zhengpu Wang, Hong Liu & Boyu Ma

Authors
  1. Zongwu Xie
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  2. Wandong Sun
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  3. Baoshi Cao
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  4. Yang Liu
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  5. Zhengpu Wang
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  6. Hong Liu
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  7. Boyu Ma
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Corresponding authors

Correspondence to Baoshi Cao or Boyu Ma .

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Editors and Affiliations

  1. Xi’an Jiaotong University, Xi’an, China

    Xuguang Lan

  2. Xi’an Jiaotong University, Xi’an, China

    Xuesong Mei

  3. Xi’an Jiaotong University, Xi’an, China

    Caigui Jiang

  4. Xi’an Jiaotong University, Xi’an, China

    Fei Zhao

  5. Xi'an Jiaotong University, Xi'an, China

    Zhiqiang Tian

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Xie, Z. et al. (2025). A General Collision-Free Scheme for Redundant Manipulators. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15203. Springer, Singapore. https://doi.org/10.1007/978-981-96-0795-2_3

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  • DOI: https://doi.org/10.1007/978-981-96-0795-2_3

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-96-0794-5

  • Online ISBN: 978-981-96-0795-2

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