To deal with the problemof obstacle avoidance for redundant robots, an obstacle avoidance algorithmbased on the internalmotion\nof the 7-DOF redundant anthropomorphic armis presented.Themotion of that critical pointsmove away from the closest points on\nthe obstacles is defined as obstacle avoidingmotion. Two transitioning variables were used to make a smooth, continuous transition\nbetween the primary and the secondary tasks. Using this approach, the robot can get the target configuration while avoiding the\nobstacles. Finally, the validity of the obstacle avoidance algorithm based on transitioning between tasks is manifested by simulation.\nThe results show that, for the obstacle avoiding problem, the redundant robot not only can realize the obstacle avoidance, but also\nprevents the conflict between tasks by the proposed approach.
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