Iterative strategies for obstacle avoidance of a redundant manipulator

Authors:
Cornel Secară;Luigi Vlădăreanu
Affiliations:
Robotics-Mechatronics Group, Institute of Solid Mechanics of Romanian Academy, Bucharest, Romania;Robotics-Mechatronics Group, Institute of Solid Mechanics of Romanian Academy, Bucharest, Romania
Venue:
WSEAS Transactions on Mathematics
Year:
2010

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Abstract

This paper presents four different iterative strategies for obstacle avoidance of a redundant manipulator. The end-effector task consists in generating the references along the contour of a curve. The proposed strategies are iterative in the sense that the joint configuration computed in the previous step represents the current point around which the methods provide the next joint configuration corresponding to the imposed end-effector posture. The objective of the strategies is to simultaneously minimize the end-effector location error and the manipulator total joint displacement while the collision with the obstacle is avoided. The strategies are implemented using the Matlab software and the comparative simulation results are obtained for a planar redundant manipulator with four degrees of freedom and with its end-effector following the contour of a circle, whose surface is considered to be restrictive for all elements of the manipulator.