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.