A Pseudo-Inverse Redundancy-Based Resolution Scheme at the Acceleration Level to Control Robotic Arm Motion

Abstract

Implementing obstacle avoidance (OA) motion control is part and parcel of redundant robot manipulators. Various OA schemes have been designed at the level of joint velocity or joint acceleration. In this paper, a new OA scheme which is based on Jacobi pseudo-inverse for redundant robot manipulator at the level of joint acceleration is proposed in this paper. The OA characteristics of the proposed acceleration level scheme are theoretically analyzed by using a gradient dynamics approach. The proposed OA scheme is used to control the PA10 robotic manipulator for simulations. The corresponding simulation results confirm the effectiveness and feasibility of the proposed acceleration level OA scheme.