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A local collision-free motion planning strategy for hyper-redundant manipulators based on dynamic safety envelopes

Published online by Cambridge University Press:  12 September 2024

Renjie Ju Open the ORCID record for Renjie Ju [Opens in a new window] ,
Dong Zhang Open the ORCID record for Dong Zhang [Opens in a new window] ,
Yan Gai  and
Zhengcai Cao
Renjie Ju
Affiliation:
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Dong Zhang
Affiliation:
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Yan Gai
Affiliation:
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Zhengcai Cao*
Affiliation:
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
*
Corresponding author: Zhengcai Cao; Email: caozc@hit.edu.cn
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Abstract

Hyper-redundant manipulators (HRMs) exhibit promising adaptability and superior dexterity in cavity detection tasks, owing to their snake-like segmented backbones. Due to the safety concern in contactless operating tasks, reliable motion planning in a confined environment for HRMs is very challenging. However, existing expanding-based obstacle avoidance methods are not feasible in narrow environments, as they will excessively occupy free spaces required for maneuvering. In this work, a local collision-free motion planning strategy based on dynamic safety envelope (DSE) is proposed for HRMs. First, the local motion of HRMs is analyzed in detail, and DSE is proposed for the first time to describe the boundary of the collision-free area. Then, to maximize the efficient utilization of narrow spaces, a reference trajectory for HRM is roughly planned without expanding obstacles. Further, a tip-guided trajectory tracking method based on configuration prediction is proposed by considering the discrete characteristics of rigid links to avoid obstacles. During the tracking process, DSEs are applied to evaluate collision risk and optimize the configuration. Finally, to validate the effectiveness of our proposed method, simulations are conducted, followed by experiments by using a 18-degrees of freedom mobile HRM prototype system.

Keywords

hyper-redundant manipulatorobstacle avoidancedynamic safety envelopemotion planning
Type
Research Article
Information
Robotica , Volume 42 , Issue 7 , July 2024 , pp. 2388 - 2402
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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