An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper.The manipulators are controlled\r\nwith impedance control to follow user�s motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the\r\nend-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint\r\nwith kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede\r\nfollow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through\r\nobstacle avoidance simulations and experiments
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