FENG An-song, DAI Ju. OBSTACLE AVOIDANCE CONTROL ABOUT REDUNDANT MANIPULATOR[J]. ROBOT, 2002, 24(3): 213-216.
Citation: FENG An-song, DAI Ju. OBSTACLE AVOIDANCE CONTROL ABOUT REDUNDANT MANIPULATOR[J]. ROBOT, 2002, 24(3): 213-216.

OBSTACLE AVOIDANCE CONTROL ABOUT REDUNDANT MANIPULATOR

  • 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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