A Robust Local Approach For The Obstacle Avoidance Of Redundant Robot Manipulators

摘要

In this article a fast approach for the ob- stacle avoidance of robot manipulators is presented. The approach is based on formulating an inverse kinematics problem under an inexact context. This procedure per- mits to deal with the avoidance of obstacles with an ap propriate and easy to compute null space vector; whereas the avoidance of singularities is attained by the proper pseudoinverse perturbation. Here the computation of the inverse kinematics problem is accomplished by solving nu- merically a linear system, which includes the vector for obstacle avoidance and a scheme for the proper pseudoin- verse perturbation. These properties make the proposed approach suitable for robots operating in a sensor based environment. The developed algorithm is tested on the simulation of a planar redundant manipulator. From the results obtained it is observed that the proposed approach compares favorably with the other approaches that have recently proposed.