Collision Avoidance of Manipulators Using Local Configuration Space Representing Contact State.
Hiroyuki HIRAOKA · Journal of the Japan Society for Precision Engineering · 1994
A method is proposed for planning motion path of manipulators avoiding collisions with obstacles.Though configuration space (or c-space) of manipulator is widely used for planning collision-free path of manipulators, it does not respond adequately to the geometric configuration of the collision, which brings non-uniform precision of the path and increase of its calculation time.To resolve this problem, firstly, an approach is adopted to separate global path planning which generates candidate paths in the c-space of manipulator, and local path planning which generates local paths avoiding the collision.Secondly, a method for planning the local path is proposed ; It generates a path keeping contact with obstacle surface by utilizing local configuration space, called cc-space, which represents the geometric configuration composed from the link of manipulator and the face of obstacle in contact .Based on this strategy, a computer program is developed and a path is generated successfully for PUMA type manipulator using the program.