Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators |
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Authors: | Luca Massimiliano Capisani Tullio Facchinetti Antonella Ferrara Alessandro Martinelli |
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Affiliation: | 1. Dipartimento di Ingegneria Industriale e dell’Informazione, University of Pavia, via A. Ferrata, 1, Pavia, Italy
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Abstract: | Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly challenging when obstacles are present in the manipulator workspace. In this paper a n-joint planar robot manipulator is considered and it is assumed that obstacles located in its workspace can be approximated in a conservative way with circles. The goal is to represent the obstacles in the robot configuration space. The representation allows to obtain an efficient and accurate trajectory planning and tracking. A simple but effective path planning strategy is proposed in the paper. Since path planning depends on tracking accuracy, in this paper an adequate tracking accuracy is guaranteed by means of a suitably designed Second Order Sliding Mode Controller (SOSMC). The proposed approach guarantees a collision-free motion of the manipulator in its workspace in spite of the presence of obstacles, as confirmed by experimental results. |
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