Method for adaptive obstacle avoidance for articulated redundant robot arm,申请号US20090378393-传众专利搜索

Method for adaptive obstacle avoidance for articulated redundant robot arm

申请公布号：US8406989(B1)

申请号：US20090378393

申请日期：2009.02.13

申请公布日期：2013.03.26

申请人：

BHATTACHARYYA RAJAN;SRINIVASA NARAYAN;HRL LABORATORIES, LLC

发明人：BHATTACHARYYA RAJAN;SRINIVASA NARAYAN

分类号：G06F19/00;G06T15/00

主分类号：G06F19/00

摘要：A method for adaptive obstacle avoidance for articulated redundant robots is disclosed. The method comprises acts of calculating an obstacle avoidance vector for each of a set of limbs in a robot arm, and then applying the obstacle avoidance vector to constrain the inverse model in a robot controller. The obstacle avoidance vector incorporates factors including: (1) a distance and direction of each of a set of obstacles to the limb; and (2) when the limb is part of a kinematic chain of limbs, contributions from the obstacle avoidance vectors of all peripheral limbs in the kinematic chain. The method of the present invention was designed for use with the DIRECT model robot controller, but the method is generally applicable to any of a variety of robot controllers known in the art.