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arXiv · 2108.00762

Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment

Wanda Zhao·Anatol Pashkevich·Damien Chablat
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Abstract

The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion planning for the robot body. The first of them is solved via discrete dynamic programming, the second one is worked out using quadratic programming with mixed linear equality/nonequality constraints. Efficiency of the proposed technique is confirmed by simulation.

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Wanda Zhao, Anatol Pashkevich, Damien Chablat. 2021-08-02. Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment. https://arxiv.org/abs/2108.00762

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