Industrial Robot, Volume (45), No (1), Year (2018-1) , Pages (110-126)

Title : ( Real-time velocity scaling and obstacle avoidance for industrial robots using fuzzy dynamic movement primitives and virtual impedances )

Authors: Iman Kardan , Alireza Akbarzadeh Tootoonchi , Seyyed Ali Mousavi Mohammadi ,

Citation: BibTeX | EndNote

Abstract

Purpose – This paper aims to increase the safety of the robots’ operation by developing a novel method for real-time implementation of velocity scaling and obstacle avoidance as the two widely accepted safety increasing concepts. Design/methodology/approach – A fuzzy version of dynamic movement primitive (DMP) framework is proposed as a real-time trajectory generator with imbedded velocity scaling capability. Time constant of the DMP system is determined by a fuzzy system which makes decisions based on the distance from obstacle to the robot’s workspace and its velocity projection toward the workspace. Moreover, a combination of the DMP framework with a human-like steering mechanism and a novel configuration of virtual impedances is proposed for real-time obstacle avoidance. Findings – The results confirm the effectiveness of the proposed method in real-time implementation of the velocity scaling and obstacle avoidance concepts in different cases of single and multiple stationary obstacles as well as moving obstacles. Practical implications – As the provided experiments indicate, the proposed method can effectively increase the real-time safety of the robots’ operations. This is achieved by developing a simple method with low computational loads. Originality/value – This paper proposes a novel method for real-time implementation of velocity scaling and obstacle avoidance concepts. This method eliminates the need for modification of original DMP formulation. The velocity scaling concept is implemented by using a fuzzy system to adjust the DMP’s time constant. Furthermore, the novel impedance configuration makes it possible to obtain a non-oscillatory convergence to the desired path, in all degrees of freedom.

Keywords

, Safety, Fuzzy inference system, Collision avoidance, Dynamic movement primitives, Velocity scaling
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@article{paperid:1078647,
author = {Kardan, Iman and Akbarzadeh Tootoonchi, Alireza and Mousavi Mohammadi, Seyyed Ali},
title = {Real-time velocity scaling and obstacle avoidance for industrial robots using fuzzy dynamic movement primitives and virtual impedances},
journal = {Industrial Robot},
year = {2018},
volume = {45},
number = {1},
month = {January},
issn = {0143-991X},
pages = {110--126},
numpages = {16},
keywords = {Safety; Fuzzy inference system; Collision avoidance; Dynamic movement primitives; Velocity scaling},
}

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%0 Journal Article
%T Real-time velocity scaling and obstacle avoidance for industrial robots using fuzzy dynamic movement primitives and virtual impedances
%A Kardan, Iman
%A Akbarzadeh Tootoonchi, Alireza
%A Mousavi Mohammadi, Seyyed Ali
%J Industrial Robot
%@ 0143-991X
%D 2018

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