A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories

In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of combination off-line path planning algorithms with on-line motion control. Path allows the fixed obstacles detected before start robot’s motion; it based on potential fields method combined smoothing process realized by means interpolation Bezier curves. The designed to compensate and avoid collisions along kinematic chain manipulator; velocity law null space redundancy A new term introduced take into account speed as well their position. Simulations simplified planar case are presented assess validity estimate computational effort order verify transferability our approach real system.