Dynamical Systems based Obstacle Avoidance with Workspace Constraint for Manipulators
This work addresses the problem of safe and constrained motion planning for robotic manipulators, which is important for real-world robot deployment.
This paper proposes a Dynamical Systems (DS) based obstacle avoidance method for serial manipulators that also considers workspace constraints. The method uses two modulation matrices to deform an original DS, ensuring the manipulator's trajectory avoids obstacles and stays within the workspace.
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.