A 7DOF Manipulator Control in an Unknown Environment based on an Exact Algorithm

An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented. The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the exact algorithm implementation for the control of a seven link (7 degrees of freedom, 7DOF) manipulator are given.

Authors:

• Pavel K. Lopatin
• Artyom S. Yegorov

Keywords:

• Manipulator
• trajectory planning
• unknown obstacles

References:

[1] C. Ahrikhencheikh, A. Seireg, Optimized-Motion Planning: Theory
and Implementation. John Wiley & Sons, Inc, 1994.
[2] J. Barraquand, J.-C. Latombe, "Robot Motion Planning: A Distributed
Representation Approach," Int. J. of Rob. Res., Vol.10, ¶Çèï6, pp.628-
649, December 1991.
[3] V. A. Ilyin, Intelligent Robots: Theory and Algorithms. Krasnoyarsk.
SAA, 1995 (in Russian).
[4] S. M. LaValle, Planning Algorithms, 1999-2004. Available:
http://msl.cs.uiuc.edu/planning.
[5] C. S. G. Lee "Robot Arm Kinematics, Dynamics and Control," CompSAC 82: Proc. IEEE Comput. Soc. 6-th Int. Comput. Software And Appl. Conf., Chicago, Ill., Nov.8-12, 1982 - pp.601-610.
[6] P. K. Lopatin, "Algorithm of a manipulator movement amidst
unknown obstacles". Proc. of the 10th International Conference on
Advanced Robotics (ICAR 2001), August 22-25, 2001, Hotel Mercure
Buda, Budapest, Hungary. pp.327-331.
[7] P. K. Lopatin, "Algorithm2 for Dynamic Systems- Control in an Unknown Static Environment". Herald of The Siberian state aerospace university named after academician M.F.Reshetnev / ed.
prof. G.P.Belyakov; SibSAU. ¶Çèï 4(11). Krasnoyarsk. pp.28-32, 2006.
(in Russian).
[8] P. K. Lopatin, A. S. Yegorov, "Using the Forward Search and the
Polynomial Approximation Algorithms for Manipulator-s Control in an Unknown Environment", Proceeding of the 2006 IEEE Conference
on Automation Science and Engineering. Shanghai, China, October 7-
10, 2006. pp.216-221.
[9] V. J. Lumelsky "Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World", John Wiley & Sons, 2006.
[10] N. Nilson, Problem-Solving Methods in Artificial Intelligence.
McGraw-Hill Book Company, New York, 1971.
[11] F. Yegenoglu, A. M. Erkmen, H.E. Stephanou, "On-line Path
Planning Under Uncertainty," Proc. 27th IEEE Conf. Decis. and Contr., Austin, Tex., Dec.7-9, 1988. Vol.2, pp.1075-1079, New York
(N.Y.), 1988.