Real-Time Kinematic Control for Redundant Manipulators in a Time-Varying Environment: Multiple-Dynamic Obstacle Avoidance and Fast Tracking of a Moving Object

摘要

This paper presents a real-time kinematic control strategy to realize fast tracking of redundant robot manipulators in a time-varying environment. An obstacle avoidance method based on the law of conservation of energy is proposed to adjust the motion states of robot manipulators in real time. This method defines that the total energy for the end effector consists of an energy toward object (ETO) and an energy around obstacle (EAO), and that the total energy for each critical point on manipulator composes a relative kinematic energy (RKE) and an energy memory (EM). The total energies remain constant at each sampling period, and the conversions between the ETO and the EAO or between the RKE and the EM are recognized to obey a distance-related S-function. Such considerations ensure the smooth movement of the manipulator and avoid collisions with obstacles. In real-time planning, an unsupervised single neuron PID model is raised to adaptively increase the convergence ratio of moving object tracking via the online learning of the principal component analysis. Then, combined with the dynamic obstacle avoidance method based on conservation of energy, the kinematic control strategy is established for redundant manipulators to track a moving object rapidly in the presence of multiple dynamic obstacles. Theory analysis and various contrast experimental results show that the proposed kinematic control strategy is feasible and has fast convergence.