Dynamical Systems based Obstacle Avoidance with Workspace Constraint for Manipulators

TL;DR

This paper introduces a dynamical systems-based obstacle avoidance method for manipulators that respects workspace constraints by deforming the system with modulation matrices, validated through simulations and experiments.

Contribution

It proposes a novel DS deformation approach using two modulation matrices to ensure obstacle avoidance within workspace boundaries.

Findings

Effective obstacle avoidance demonstrated in simulations.

Successful validation on UBTECH humanoid robot arm.

Method prevents workspace boundary violations.

Abstract

In this paper, based on Dynamical Systems (DS), we present an obstacle avoidance method that take into account workspace constraint for serial manipulators. Two modulation matrices that consider the effect of an obstacle and the workspace of a manipulator are determined when the obstacle does not intersect the workspace boundary and when the obstacle intersects the workspace boundary respectively. Using the modulation matrices, an original DS is deformed. The proposed approach can ensure that the trajectory of the manipulator computed according to the deformed DS neither penetrate the obstacle nor go out of the workspace. We validate the effectiveness of the approach in the simulations and experiments on the left arm of the UBTECH humanoid robot.