Whole arm manipulation planning based on feedback velocity fields and sampling-based techniques

• Published in: ISA transactions Vol. 52; no. 5; pp. 684 - 691
• Main Authors: Talaei, B., Abdollahi, F., Talebi, H.A., Omidi Karkani, E.
• Format: Journal Article
• Language: English
• Published: United States Elsevier Ltd 01-09-2013
• Subjects: Algorithms; Arm - anatomy & histology; Arm - physiology; Artificial Intelligence; Biomechanical Phenomena; Feedback; Fields (mathematics); Hand Strength - physiology; Humans; Jamming; Joints - anatomy & histology; Joints - physiology; Kinematics; Manipulators; Movement; Obstacle avoidance; Redundant; Risk; Robotics; Sampling-based planning techniques; Velocity field; Whole arm manipulation; Sampling-based planning techniques; Obstacle avoidance; Whole arm manipulation; Velocity field; Jamming
• ISSN: 0019-0578; 1879-2022
• DOI: 10.1016/j.isatra.2013.04.006

Changing the configuration of a cooperative whole arm manipulator is not easy while enclosing an object. This difficulty is mainly because of risk of jamming caused by kinematic constraints. To reduce this risk, this paper proposes a feedback manipulation planning algorithm that takes grasp kinematics into account. The idea is based on a vector field that imposes perturbation in object motion inducing directions when the movement is considerably along manipulator redundant directions. Obstacle avoidance problem is then considered by combining the algorithm with sampling-based techniques. As experimental results confirm, the proposed algorithm is effective in avoiding jamming as well as obstacles for a 6-DOF dual arm whole arm manipulator.
•We study jamming conditions in whole arm manipulation and suggest a method to avoid it.•We propose a velocity field for planning whole arm manipulation to avoid jamming.•Obstacle avoidance is considered in the planning algorithm by using sampling based techniques.•Suggested planning algorithm is successfully implemented on a 6-DOF dual arm whole arm manipulator.