Improvement of Obstacle and Singularity Avoidance Path Planning Algorithm for Redundant Manipulators

摘要

A collaborative optimization scheme of obstacle avoidance and singularity avoidance path planning method is presented for redundant robot. An improved real-time minimum distance calculated method is presented and search the connect rod which easy to collision based on this minimum distance. Complete the obstacle avoidance based on the self-motion of the redundant manipulator on a null space and two obstacle avoidance parameters related to real-time minimum distance are introduced to improve optimization of obstacle avoidance. Adopt the DLS method to solve the problem that very high joint velocities in the vicinity of singular configuration. At last, through simulation of planar 3R redundant manipulator, the algorithm proves to be feasible and effective.