University of Surrey

Test tubes in the lab Research in the ATI Dance Research

Optimised collision-free trajectory and controller design for robotic manipulators

Seddaoui, Asma and Saaj, Chakravarthini (2017) Optimised collision-free trajectory and controller design for robotic manipulators In: 14th Symposium on Advanced Space Technologies in Robotics and Automation, 2017-05-11 - 2017-05-13, Noordwijk, The Netherlands.

[img]
Preview
Text
OPTIMISED COLLISION-FREE TRAJECTORY AND CONTROLLER DESIGN FOR ROBOTIC MANIPULATORS.pdf - Accepted version Manuscript

Download (2MB) | Preview

Abstract

Path planning and collision avoidance are two crucial interconnected algorithms used to perform desired tasks for both fixed and moving base manipulators. In this paper, the collision-free trajectory generation algorithm presented for capturing a stationary target is a newer form of the state-of-the-art method using cycloids. It is further optimised to minimise the distance between the obstacle and the manipulator. A control algorithm using the Computed Torque Control to accurately track the pre-designed trajectory is discussed. The simulations results presented in this paper verify the efficacy and robustness of the controller based on the non-linear dynamical model of the robotic manipulator. The optimised collision-free trajectory resulted in smooth joint displacement, velocity and acceleration. Moreover, the algorithm presented can be applied to ground based and space based stationary or moving robotic manipulators.

Item Type: Conference or Workshop Item (Conference Paper)
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering
Authors :
NameEmailORCID
Seddaoui, Asmaa.seddaoui@surrey.ac.uk
Saaj, ChakravarthiniC.Saaj@surrey.ac.uk
Date : 2017
Copyright Disclaimer : Copyright 2017 the authors
Uncontrolled Keywords : Collision-free Trajectory; Control; Robotic Manipulator
Related URLs :
Depositing User : Jane Hindle
Date Deposited : 14 Aug 2017 07:47
Last Modified : 27 Feb 2019 11:22
URI: http://epubs.surrey.ac.uk/id/eprint/841887

Actions (login required)

View Item View Item

Downloads

Downloads per month over past year


Information about this web site

© The University of Surrey, Guildford, Surrey, GU2 7XH, United Kingdom.
+44 (0)1483 300800