Abstract
This paper presents two strategies for reducing the impact force resulting from the collision of a kinematically redundant manipulator with its environment, where it is assumed that the impact event has some finite duration. The first, animpact control strategy, involves adding torques to the joints of the redundant manipulator to impede motion into the environment with which it is colliding. The second, animpact planning strategy, involves choosing the configuration best suited for minimizing the impact force from an impact event, the approximate location of which is known ahead of time. Simulated results from both strategies are presented and discussed, and it is shown that both are successful in minimizing the impact force resulting from planned and unplanned collisions.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Cai, C., Instantaneous robot motion with contact between surfaces, PhD Thesis, Dept. of Computer Science, Stanford University, 1988.
Colbaugh, R.D. and Glass, K.L., Cartesian control of redundant robots,J. Robotic Systems 6(4) (1989), 427–459.
Craig, J.J.,Introduction to Robotics: Mechanics and Control, Addison-Wesley, Reading, Mass., 1989.
Gertz, M.W., Simulation of strategies to minimize the force of impact between a redundant manipulator and an obstacle, MS thesis, The Robotics Institute, Carnegie Mellon University, February 1991.
Khatib, O., Dynamic control of manipulators in operational space,Sixth CISM-IFToMM Congress on Theory of Machines and Mechanisms, 1983, New Delhi, India, Wiley, New Delhi, pp. 1128–1131.
Khatib, O. and Burdick, J., Motion and force control of robot manipulators,IEEE Conf. on Robotics and Automation, San Francisco, CA, 1986, pp. 1381–1386.
Kim, J.-O. and Khosla, P.K., Dynamic resolution of redundant motions, Technical Report CMU-RI-AML-90-01, Advanced Manipulators Laboratory, The Robotics Institute, Carnegie Mellon University, Sept. 1990.
Kim, J.-O., Khosla, P.K., and Chung, W.K., Static modeling and control of redundant manipulators,Robotics and Computer-Integrated Manufacturing 9(2) (1991), 145–157.
Nakamura, Y.,Advanced Robotics: Redundancy and Optimization, Addison-Wesley, Reading, Mass., 1991.
Nenchev, D.N., Redundancy resolution through local optimization: A review,J. Robotic Systems 6(6) (1989), 769–798.
Rao, C.R. and Mitra, S.K.,Generalized Inverse of Matrices and its Application, Wiley, New York, 1971.
Walker, I.D., The use of kinematic redundancy in reducing impact and contact effects in manipulation,IEEE Conf. Robotics and Automation, Cincinnati, OH, May 1990, pp. 434–439.
Yoshikawa, T., Analysis and control of redundant manipulators with redundancy, in Brady and Paul (eds),Robotics Research: The First Int. Symp., MIT press, 1984, pp. 735–747.
Zheng, Y. and Hemami, H., Mathematical modeling of a robot collision with its environment,J. Robotics Systems 2 (1985), 289–307.
Author information
Authors and Affiliations
Additional information
This research was funded in part by NASA (grant number NAG-1-1075), the Dept. of Elec. and Comp. Engineering, and The Robotics Institute, Carnegie Mellon University.
Rights and permissions
About this article
Cite this article
Kim, JO., Wayne, M. & Khosla, P.K. Exploiting redundancy to reduce impact force. J Intell Robot Syst 9, 273–290 (1994). https://doi.org/10.1007/BF01276501
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF01276501