Paul M. Bosscher

Real‐time collision avoidance algorithm for robotic manipulators

This paper presents an algorithm for performing collision avoidance with robotic manipulators. The method does not require any a priori knowledge of the motion of other objects in its environment. Moreover, it is computationally efficient enough to be implemented in real time. This is achieved by constructing limitations on the motion of a manipulator in terms of its allowable instantaneous velocity. Potential collisions and joint limits are formulated as linear inequality constraints. Selection of the optimal velocity is formulated as a convex optimization and is solved using an interior point method. Experimental results with two industrial arms verify the effectiveness of the method and illustrate its ability to easily handle many simultaneous potential collisions.

CONTOUR-CRAFTING-CARTESIAN-CABLE ROBOT SYSTEM CONCEPTS: WORKSPACE AND STIFFNESS COMPARISONS

Contour crafting (CC) is a new technology that is proposed for construction. Formerly we presented a cable-suspended robot to implement CC technology with Cartesian motion. The current paper proposes an improved Contour-Crafting-Cartesian-Cable (C4 ) robot. Although the new concept is preferable in structural design, here we compare the original and improved C4 robot concepts with regard to kinematics, workspace, and stiffness.Copyright

Real-time collision avoidance algorithm for robotic manipulators

This paper presents an algorithm for performing collision avoidance with robotic manipulators. The method does not require any a priori knowledge of the motion of other objects in its environment. Moreover, it is computationally efficient enough to be implemented in real time. This is achieved by constructing limitations on the motion of a manipulator in terms of its allowable instantaneous velocity. Potential collisions and joint limits are formulated as linear inequality constraints. Selection of the optimal velocity is formulated as a convex optimization and is solved using an interior point method. Experimental results with two industrial arms verify the effectiveness of the method and illustrate its ability to easily handle many simultaneous potential collisions.

Enhanced operator perception through 3D vision and haptic feedback

Polaris Sensor Technologies (PST) has developed a stereo vision upgrade kit for TALON® robot systems comprised of a replacement gripper camera and a replacement mast zoom camera on the robot, and a replacement display in the Operator Control Unit (OCU). Harris Corporation has developed a haptic manipulation upgrade for TALON® robot systems comprised of a replacement arm and gripper and an OCU that provides haptic (force) feedback. PST and Harris have recently collaborated to integrate the 3D vision system with the haptic manipulation system. In multiple studies done at Fort Leonard Wood, Missouri it has been shown that 3D vision and haptics provide more intuitive perception of complicated scenery and improved robot arm control, allowing for improved mission performance and the potential for reduced time on target. This paper discusses the potential benefits of these enhancements to robotic systems used for the domestic homeland security mission.

CONTOUR-CRAFTING-CARTESIAN-CABLE ROBOT SYSTEM: DYNAMICS AND CONTROLLER DESIGN

This paper presents dynamics equations and controller simulation for the Contour-Crafting-Cartesian-Cable (C 4 ) Robot. The C 4 robot was previously introduced for large-scale contour crafting construction. The pseudostatic and dynamics equations are presented, including how to maintain positive cable tensions. A controller design is also proposed for the C 4 robot, based on the computed-torque method. MATLAB simulation is presented for controller simulation with different trajectories and controller gains.