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Proceedings Paper

Local step planning for a robot arm operating in an uncertain environment
Author(s): Dugan Um
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Paper Abstract

We address the problem of sensor-based motion planning for a robot arm manipulator operating amongst obstacles of arbitrary shapes. Collisions might occur at any point on the arm body. The input information is assumed to be coming from a sensitive skin that covers the arm body. The skin is covered by densely distributed proximity sensors. In prior work, step calculation was based on the average of normal vectors to the points on the obstacles sensed by the robot. There are cases when this algorithm can lead to collisions. In this paper an algorithm is proposed for local step planning whereby the direction for the next step motion is done along the intersection of planes tangential to the points of obstacles sensed. The tangential planes themselves are approximated via the least square fit of the sensor readings involved. An expansion of the scheme to robot arms with arbitrary number of links is also discussed.

Paper Details

Date Published: 6 October 1998
PDF: 7 pages
Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); doi: 10.1117/12.325777
Show Author Affiliations
Dugan Um, Univ. of Wisconsin/Madison (United States)


Published in SPIE Proceedings Vol. 3522:
Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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