Obstacle Avoidance Algorithm for Redundant Robots Based on Transition between the Primary and Secondary Tasks
Shen Haoy · Robot · 2014
Conflict will take place between the trajectory tracking motion and the obstacle avoiding motion of the endeffector of the redundant robot, if the motion of the end-effector is disturbed by any obstacles in the obstacle avoidance problem of redundant robots. To deal with the obstacle avoidance problem, an obstacle avoidance algorithm based on transition between the primary and the secondary tasks is presented. Firstly, the obstacle avoiding motion is defined in one dimensional operational space, and two transition variables are used to make a smooth and continuous priority transition between the trajectory tracking motion and the obstacle avoiding motion of the end-effector using the real-time minimum distance. Finally, the validity of the algorithm is manifested by simulation of a 3-DoF planar robot. Results show that the closest distance between the manipulator and the obstacle is greater than 0.02 m, while the end-effector of the robot can reach the target position accurately. As a conclusion, the redundant robot can not only realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.