A Line-Based Obstacle Avoidance Technique for Dexterous Manipulator Operations
Nicholas A. Scott, Craig R. Carignan
Cameras are often used for visual servoing or realtime mapping of the external environment in both autonomous and teleoperated tasks with a dexterous manipulator. Nominal operations will likely produce manipulator configurations that occlude the line-of-sight from the camera to a target of interest. In this paper, a technique is developed that treats the camera line-of-sight as a virtual obstacle in order to prevent camera occlusion. The approach is based on using virtual point charges to represent obstacles and using the self-motion of the arm to avoid collisions. The approach is demonstrated on the Ranger Dexterous Manipulator.
Proceedings of the International Symposium on Automation and Robotics in Construction
May 19-23, 2008
International Symposium on Robotics and Automation in Construction
and Carignan, C.
A Line-Based Obstacle Avoidance Technique for Dexterous Manipulator Operations, Proceedings of the International Symposium on Automation and Robotics in Construction
, Pasadena, CA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=902525
(Accessed February 28, 2024)