A novel autonomous obstacle avoidance path planning method for manipulator in joint space
Gang Chen, Qingxuan Jia, Peichang Ye, Hanxu Sun · 2014
This paper presents a novel autonomous obstacle avoidance algorithm for robotic manipulators in joint space. First, a method is proposed to obtain collision-free configuration of manipulator that converts point to point task into path planning problem of manipulators in joint space. Then, an interpolating polynomial is used for manipulator to plan a smooth trajectory in joint space. Last, a novel autonomous obstacle avoidance algorithm based on a simple piecewise function is proposed to solve obstacles avoidance problem in joint space. Simulation results clearly demonstrate the efficiency of the proposed method.