Manipulator control in an unknown static environment

Pavel K. Lopatin
PhD in Technical Sciences, Reshetnev Siberian State University of Science and Technology (Reshetnev University), Associate Professor, Assistant Professor of of the In-formatics and Computing Techniques Department, 31, Krasnoyarsky Rabochy pr., Krasnoyarsk, 660014,  Russia, tel.: +7(913)575-16-78, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 01 February 2019

Abstract
An algorithm for solving the following Problem is given: an n-link manipulating robot (MR), moving from a start configuration in an environment with unknown static obstacles in a finite number of steps should either grasp a given object by its gripper in an allowed configuration or come to the proved conclusion that the object can not be grasped because of the obstacles’ disposition. The algorithm works in the continuous configuration space. The obstacles may have arbitrary number shapes, dimensions and disposition. MR has a sensor system, which may supply reliable or not reliable information about the environment. It is shown, that the Problem solution is reduced to a solution of a finite number of path planning problems in an environment with known forbidden states with its subsequent execution.

Key words
Robot, manipulator, path planning, trajectory, control, sensor system, unknown environment, object grasping, obstacles, reachability, unreachability.

DOI

https://doi.org/10.31776/RTCJ.7108 

Bibliographic description
Lopatin, P. (2019). Manipulator control in an unknown static environment. Robotics and Technical Cybernetics, 7(1), pp.58-64.

UDC identifier:
519.7

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