Real-time Obstacle Avoidance with Collision Jacobian for Robot Arm.
Hajime Kaneko, Tatsuo Arai, Kenji Inoue, Yasushi Mae · Journal of the Robotics Society of Japan · 2000
This paper proposes a realtime trajectory planning and control method of a robot arm for obstacle avoidance. If the distance between a link and a object are small, suggesting that a collision is about to occur, then an alternative trajectory is calculated to prevent the collision while minimizing the error in the desired (commanded) trajectory. The trajectory control algolithm that results in the form of a constrained minimization problem. Key to the trajectory modification algorithm is derivation of the Jacobian matrix relating changes in endeffector velocity to interference verocity. Simulation results demonstrate the performance of this algoritm and experimental results veryfy it's effectiveness.