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Collision Avoidance of Redundant Robotic Manipulators Using Newton’s Method

Type
Articles dans des revues avec comité de lecture
Auteur
SAFEEA, Mohammad
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]
164378 Faculty of Sciences and Technology [Coimbra]
BÉARÉE, Richard
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]
NETO, Pedro
164378 Faculty of Sciences and Technology [Coimbra]

URI
http://hdl.handle.net/10985/18196
DOI
10.1007/s10846-020-01159-3
Date
2020
Journal
Journal of Intelligent & Robotic Systems

Résumé

This study investigates the application of Newton method to the problems of collision avoidance and path planning for robotic manipulators, especially robots with high Degrees of Freedom (DOF). The proposed algorithm applies to the potential fields method, where the Newton technique is used for performing the optimization. As compared to classical gradient descent method this implementation is mathematically elegant, enhances the performance of motion generation, eliminates oscillations, does not require gains tuning, and gives a faster convergence to the solution. In addition, the paper presents a computationally efficient symbolic formula for calculating the Hessian with respect to joint angles, which is essential for achieving realtime performance of the algorithm in high DOF configuration spaces. The method is validated successfully in simulation environment. Results for different methods (Newton, gradient descent and gradient descent with momentum) are compared in terms of quality of the path generated, oscillations, minimum distance to obstacles and convergence rate.

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Documents liés

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  • Robot dynamics: A recursive algorithm for efficient calculation of Christoffel symbols 
    SAFEEA, Mohammad; NETO, Pedro; BEAREE, Richard (Elsevier BV, 2019)
    Christoffel symbols of the first kind are very important in robot dynamics. They are used for tuning various proposed robot controllers, for determining the bounds on Coriolis/Centrifugal matrix, for mathematical formulation ...
  • Efficient Calculation of Minimum Distance Between Capsules and Its Use in Robotics 
    SAFEEA, Mohammad; NETO, Pedro; BEAREE, Richard (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    The problem of minimum distance calculation between line-segments/capsules, in 3D space, is an important subject in many engineering applications, spanning CAD design, computer graphics, simulation, and robotics. In the ...
  • Reducing the Computational Complexity of Mass-Matrix Calculation for High DOF Robots 
    SAFEEA, Mohammad; BEAREE, Richard; NETO, Pedro (IEEE, 2018)
    Increasingly, robots have more degrees of freedom (DOF), imposing a need for calculating more complex dynamics. As a result, better efficiency in carrying out dynamics computations is becoming more important. In this study, ...
  • On-line collision avoidance for collaborative robot manipulators by adjusting off-line generated paths: An industrial use case 
    SAFEEA, Mohammad; NETO, Pedro; BEAREE, Richard (Elsevier BV, 2019)
    Human–robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in ...
  • An innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining 
    BEAREE, Richard; DIEULOT, Jean-Yves; RABATE, Patrice (Springer-Verlag, 2010)
    A new and fast registration algorithm has been proposed to update the tool-path of a deburring robot, intended to machining composite workpieces under gravity and clamping deformations. A Subdivision Iterative Closest Point ...

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