Obstacle avoidance control for redundant manipulators usingcollidability measure

摘要

We present a measure called collidability measure for obstacleavoidance control of redundant manipulators. Considering movingdirections of manipulator links, the collidability measure is defined asthe inverse of sum of predicted collision distances between links andobstacles. This measure is suitable for obstacle avoidance control sincedirections of moving links are as important as distances to obstacles.For dynamic redundancy resolution, null space control is utilized toavoid obstacles by minimizing the collidability measure. Also, byclarifying decomposition in the joint acceleration level, we present asimple dynamic control law with bounded joint torques which guaranteestracking of a given end-effector trajectory and improves a kinematiccost function such as collidability measure. Simulation results arepresented to illustrate the effectiveness of the proposedalgorithm