Collision Detection and Obstacle Avoidance of Planar Redundant Manipulator based on Dichotomous Heuristic

doi:10.3901/JME.2023.01.113

Abstract

Abstract: Focusing on the issue of security interaction between collaborative robot arm and unknown environment, a dichotomous heuristic (DH) based method of collision position (CP) detection and virtual collision space (VCS) estimation for planar redundant robot arm (PRRA) is proposed. Its basic idea is that rotate the the collision lever with a small angular displacement around the selected equinox, during which further collision is judged according to the joint current information, so as to determine the interval of the collision position. Through iterative trials, the CP detection error can be reduced to an acceptable level. In order to solve the PRRA motion control during DH, the inverse kinematics model with the selected equinox as a fixed point is established. A fast collision detection algorithm based on joint current information is developed by simplifying and improving the second-order feed-forward external force observer. According to the CP information and collision lever pose, an envelope-method-based VSC model is established to approximate the obstacle spatial information. Simulational and experimental results show that the proposed DH based method of CP detection and VCS estimation can provide effective obstacle information for the master and slave tasks transformation-based close-loop-control obstacle avoidance algorithm, so as to realize the safety obstacle avoidance of the PRRA and improve the interaction safety between the cooperative robot arm and the environment.

Key words: redundant robot arm, dichotomous heuristic, collision detection, safe obstacle avoidance

CLC Number:

TP242

ZHANG Jianhua, REN Baozhen, ZHAO Yan, XU Yongqiang, LIU Xuan. Collision Detection and Obstacle Avoidance of Planar Redundant Manipulator based on Dichotomous Heuristic[J]. Journal of Mechanical Engineering, 2023, 59(1): 113-122.

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