Moving obstacle avoidance of a 5-DOF robot manipulator by using repulsive vector

Abstract

In order to realize the object grasping of robotic manipulators in dynamic environments, the moving obstacle should be detected and avoided. When the moving speed of the obstacle is lower than that of the end-effector, a collision avoidance algorithm is proposed by using the repulsive vector to ensure the end-effector far away from the obstacle. When the speed of the obstacle is higher than that of the end-effector, the repulsive vector is further improved with the pivot algorithm. Several experiments are implemented on a 5-DOF robotic manipulator, and the end-effector can successfully grasp the object in the environment with moving obstacle.