Control of a serpentine manipulator with collision avoidance
- Byers, Robert M.
- Oct 1, 1993.
- Physical Description:
- 1 electronic document
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available.
- The robotics lab at the Kennedy Space Center is investigating the possibility of using a 'serpentine' manipulator for Shuttle inspection and payload processing. Serpentine manipulators are characterized by a large number of degrees of freedom giving them a high degree of redundancy. This redundancy allows them to be used to reach confined areas while avoiding collisions with their environment. In this paper, the author describes a new approach to controlling the joint rates for an n degree of freedom robot such that it moves its end effector to a desired position while simultaneously avoiding collision of any part of the robot arm with obstacles. Joint rates which move the end effector toward the target are found via a Lyapunov stability function. The gradient of an obstacle cost function indicates the direction toward obstacle collision in the joint space. The component of the end effector joint rates orthogonal to the obstacle gradient becomes the commanded joint rates. A notional eleven DOF model is used to numerically demonstrate the efficacy of the control law.
- NASA Technical Reports Server (NTRS) Collection.
- Document ID: 19940018759., Accession ID: 94N23232., and NASA. Kennedy Space Center, NASA(ASEE Summer Faculty Fellowship Program; p 27-46.
- No Copyright.
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