Obstacle avoidance for redundant manipulators based on a novel gradient projection method with a functional scalar

Yu Liu, Jing Zhao, Biyun Xie

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

A new Gradient Projection Method is constructed. The optimization problem with an unequal constraint of joint velocity limit defined by infinity norm is solved, and its analytical form is derived to achieve the best optimization ability within a given joint velocity limit. Based on its optimization ability, and the concern of joint velocity limit, comparison with fixed scalar algorithm is made. A vision-based system is constructed and real time obstacle avoidance experiment is implemented with this new method. The results show that this new method is superior to other methods. It can automatically change the value of scalar k to make the robot obtain the best optimization ability, have no numerical oscillations and meet any specified joint velocity limit in terms of the infinity norm.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages1704-1709
Number of pages6
DOIs
StatePublished - 2010
Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
Duration: Dec 14 2010Dec 18 2010

Publication series

Name2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010

Conference

Conference2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Country/TerritoryChina
CityTianjin
Period12/14/1012/18/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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