OBSTACLE AVOIDANCE CONTROL ABOUT REDUNDANT MANIPULATOR
FENG An-song1, DAI Ju 2
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110015; 2. Shandong University of Science and Technology, Jinan, 250031
Abstract：Obstacle avoidance of redundant robots is an essential useage for redundant robots. In this paper, we present a solution algorithm based on pseudoinverse matrix. In the algorithm, the distance between obstacle and manipulator is used for measurement of the performance index. A simple algorithm of computing the distance between obstacle and manipulator is presented. The simulation results show the feasibility and effectiveness of the algorithm.
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