Real-time collision free trajectory planning

Abstract

In this paper, collision-free robot trajectories are generated by taking into account the total robot dynamics, the robot constraints such as torque and joint limits, and avoidance of singular configurations. Four virtual impedances are generated by modulating the force/torque output of the robot actuators: (i) Impedance between the end-effector and the destination point to generate straight line trajectory in operational space; (ii) impedances between the arm links and the obstacles which are within the specified zone of influence for collision avoidance; (iii) impedances for robot joint constraints; and finally for (iv) configuration singularities.< >