Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment

TL;DR

This paper presents a novel approach for redundancy resolution in the kinematic control of a new tensegrity-based serial manipulator operating in environments with multiple obstacles, combining path planning and motion planning techniques.

Contribution

It introduces a decomposition of the redundancy resolution problem into two sub-problems and proposes solutions using dynamic programming and quadratic programming.

Findings

Simulation confirms the efficiency of the proposed method.

The approach effectively handles collision avoidance in complex environments.

The method improves the manipulator's ability to navigate multi-obstacle spaces.

Abstract

The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion planning for the robot body. The first of them is solved via discrete dynamic programming, the second one is worked out using quadratic programming with mixed linear equality/nonequality constraints. Efficiency of the proposed technique is confirmed by simulation.