Obstacle Avoidance for Spatial Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique

This paper deals with the obstacle avoidance problem for spatial hyper-redundant manipulators in known environments. The manipulator is divided into two sections, a proximal section that has not entered the space among the obstacles and a distal section among the obstacles. Harmonic potential functions are employed to achieve obstacle avoidance for the distal section in three-dimensional space in order to avoid local minima in cluttered environments. A modified panel method is used to generate the potential of any arbitrary shaped obstacle in three-dimensional space. An alternative backbone curve concept and an efficient fitting method are introduced to control the trajectory of proximal links. The fitting method is recursive and avoids the complications involved with solving large systems of nonlinear algebraic equations. The combination of a three-dimensional safe path derived from the harmonic potential field and the backbone curve concept leads to an elegant kinematic control strategy that guarantees obstacle avoidance. © 2003 Wiley Periodicals, Inc.