A 3-Dimensional Force Field Method for Robot Collision Avoidance in Complex Environment

摘要

A 3-Dimensional Force Field Method for Robot Collision Avoidance in Complex Environment P. Chotiprayanakul, D. K. Liu, D. Wang, G. Dissanayake Pages 139-145 (2007 Proceedings of the 24th ISARC, Kochi, India, ISBN 978-81-904235-1-9, ISSN 2413-5844) Abstract: This paper proposes a three-dimensional force field (3D-F 2 ) method for efficient motion planning and collision avoidance of a 6DOF manipulator in complex and dynamic environments while keeping the planned end-effector's path and speed unchanged. The 3D-F 2 is defined as ellipsoid shapes covering selected links of a manipulator. When the manipulator moves and its ellipsoid force field approaches to an obstacle in a tolerant range, a repulsive force will be generated and considered in the robot kinematic and dynamic analyses. In infrastructure maintenance, spray-painting and sand-blasting operations require that the operating spot "moves" smoothly and continuously along planned path on a work surface at a constant speed, and allow changes in length and orientation of the spray/blasting stream. Thus, the stream is supposed to be another link and the end of stream performs as a spherical joint fixed on the target surface. Various simulations in a construction area show that the 3D-F 2 can retain the operating path and effectively avoid potential collisions. Keywords: Force Field, 3D-F 2 , Collision Avoidance DOI: https://doi.org/10.22260/ISARC2007/0026 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley