Collision Avoidance Based on Pose Constraint of End Link for Serial Manipulator

Abstract:

To reduce the possibility of motion interference of manipulators, a pose constraint was proposed according to the mechanism characteristics of manipulators for a hydraulic tunneling rig with two 6DoF (degree of freedom) manipulators. The pose constraint is that the end link of manipulator keeps perpendicular to working cross section during whole motion process. Then, kinematic methods for the realization of the constraint and the minimum distance between spatial links were given. Finally, motion simulation of manipulators was made for a tunneling cross section with 64borehole design pattern. The results show that the pose constraint of end link perpendicular to working section during the motion of manipulators is effective for collision avoidance.

Key words:6DoF(degree of freedom) manipulator; collision avoidance; motion interference; pose constraint