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http://dx.doi.org/10.7746/jkros.2022.17.1.032

Collision Avoidance Based on Null Space Projection for a Nonholonomic Mobile Manipulator  

Kim, KyeJin (Mechanical Engineering, Korea University)
Yoon, InHwan (Mechanical Engineering, Korea University)
Song, Jae-Bok (Mechanical Engineering, Korea University)
Publication Information
The Journal of Korea Robotics Society / v.17, no.1, 2022 , pp. 32-39 More about this Journal
Abstract
Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.
Keywords
Mobile Manipulator; Collision Avoidance; Redundancy Resolution;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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