Obstacle- and Occlusion-Responsive Visual Tracking Control for Redundant Manipulators Using Reachability Measure

A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the manipulator may encounter certain challenges, including res...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2024-06, Vol.9 (6), p.1-8
Main Authors: Kang, Mincheul, Ha, Junhyoung
Format: Article
Language:English
Subjects:
Cameras
Collision avoidance
Configurations
Control methods
End effectors
Field of view
Inverse kinematics
Kinematics
Manipulator dynamics
Manipulators
Moving targets
Obstacle avoidance
Occlusion
Optical tracking
Reactive and Sensor-Based Planning
Robot arms
Target tracking
Tracking control
Vision systems
Visual Tracking
Visualization
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Summary:A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the manipulator may encounter certain challenges, including restricted motion due to kinematic constraints and the risk of colliding with external obstacles. These challenges are typically addressed by assigning multiple task objectives to the manipulator. However, doing so can cause an increased risk of driving the manipulator to its kinematic limits, leading to failures in object tracking or obstacle avoidance. To address this issue, we propose a novel visual tracking control method for a redundant manipulator that takes the kinematic constraints into account via a reachability measure. Our method employs an optimization-based controller that considers object tracking, occlusion avoidance, collision avoidance, and the kinematic constraints represented by the reachability measure. Subsequently, it determines a suitable joint configuration through real-time inverse kinematics, accounting for dynamic obstacle avoidance and the continuity of joint configurations. To validate our approach, we conducted simulations and hardware experiments involving a moving target and dynamic obstacles. The results of our evaluations highlight the significance of incorporating the reachability measure.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2024.3388790