A new feedback-added obstacle avoidance scheme for motion planning of redundant robot manipulators

How to avoid obstacle is one of the fundamental issues in motion planning of redundant robot manipulators. In this paper, a new scheme based on the pseudoinverse-type formulation is developed and investigated for obstacle avoidance of redundant robot manipulators. For this obstacle avoidance scheme, the feedback is added to guarantee the precision of Cartesian error. Theoretical results are then given to show its excellent property. Simulation results based on the PA10 robot manipulator with point and window-shaped obstacles are illustrated to further substantiate the efficacy of the presented feedback-added obstacle avoidance scheme for motion planning of redundant robot manipulators.