Navigation in the configuration space and obstacle avoidance for industrial manipulator

Consulta en la Biblioteca ETSI Industriales (Riunet)

[EN] Robotic manipulators are used in many different scenarios nowadays, mainly for repetitive tasks. Of course, robots manipulators have to be programmed for avoiding obstacles when operating. Usually the robots are programmed off-line in a point-to-point fashion. When the environment changes (for example the obstacles change their position), a reprogramming in necessary. This is time-consuming and prevents from operating with moving obstacles. In this work we address the problem of obstacle avoidance. The basic idea is to construct a matrix that allows to map (possibly on-line) the obstacles into forbidden regions of the configuration space (namely values of the joint variable that will cause a collision Then, the path of the robot arm could avoid the forbidden regions in the configuration space, resulting in collision-free trajectories.