Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment

Sébastien Rubrecht (1, 2) , Vincent Padois (1) , Philippe Bidaud (1) , Michel de Broissia (2)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 Bouygues Travaux Publics

In this paper, we present an iterative kinematics control law for redundant manipulators overcoming some usual problems associated to cluttered environments (constraints violations, oscillations, environment dilatation). The Constraints Compliant Control approach relies on a passive avoidance scheme (no motion generation for constraints avoidance) on a limited number of constraints selected from a vicinity analysis. A scaling solution based on the feasible motions with respect to the constraints enables to reach the frontiers of the workspace. Two missions described as sequences of key frames are simulated to compare the performances of the Constraint Compliant Control with state of the art control laws. The obtained computation times remain acceptable to consider a use in real time.

Domaines: Robotique [cs.RO]

Sébastien Rubrecht, Vincent Padois, Philippe Bidaud, Michel de Broissia. Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment. Jadran Lenarcic and Michael M. Stanisic. Advances in Robot Kinematics: Motion in Man and Machine Proceedings of the 12th International Symposium on Advances in Robot Kinematics, Springer, pp.367--376, 2010, ⟨10.1007/978-90-481-9262-5_39⟩. ⟨hal-00586455⟩