Project Title:

Sensor-Based Whole-Arm Obstacle Avoidance for Redundant Robot Arm Manipulators

05.04-7828
901588
Sensor-Based Whole-Arm Obstacle Avoidance for Redundant Robot Arm Manipulators

Abstract:

This project addresses an experimental system for the purpose of investigating issues
in sensor-based obstacle avoidance for redundant degree-of-freedom robot arm manipulators.
The experimental system consists of a planar, three degree-of-freedom, redundant,
robot arm manipulator. The perimeter of the robot arm is covered by a linear array
of proximity sensors. The assembled computer system will allow the incorporation
of robotic motion planning algorithms to guide the robot arm around its environment
without colliding into the obstacles.
Potential applications include on-orbit or earth-bound processing of satellite payloads
or use of robot arms in hazardous or hostile environments such as underground mining,
undersea exploration, or in factory workcell. Other applications would be:  industrial
robots, aids for the blind, special purpose tools, and on prototype robots in universities
and research labs.
telerobotics, sensor skin, motion planning, redundant DOF, obstacle avoidance