Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
158 tokens/sec
GPT-4o
7 tokens/sec
Gemini 2.5 Pro Pro
45 tokens/sec
o3 Pro
4 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

Dynamical Systems based Obstacle Avoidance with Workspace Constraint for Manipulators (2012.14576v1)

Published 29 Dec 2020 in cs.RO

Abstract: In this paper, based on Dynamical Systems (DS), we present an obstacle avoidance method that take into account workspace constraint for serial manipulators. Two modulation matrices that consider the effect of an obstacle and the workspace of a manipulator are determined when the obstacle does not intersect the workspace boundary and when the obstacle intersects the workspace boundary respectively. Using the modulation matrices, an original DS is deformed. The proposed approach can ensure that the trajectory of the manipulator computed according to the deformed DS neither penetrate the obstacle nor go out of the workspace. We validate the effectiveness of the approach in the simulations and experiments on the left arm of the UBTECH humanoid robot.

Summary

We haven't generated a summary for this paper yet.