Research on obstacle avoidance of redundant robots based on geometric models

The paper directs the mathematical models of the sphere and the column obstacles for a redundant robot, which can be looked on as a reference for other complex shaped obstacles. Based on the models, the performance criterion function of obstacle avoidance is presented in light of artificial potential field method. Subsequently, through optimizing the performance criterion the simulation of obstacle avoidance is studied. At last, the experiment of obstacle avoidance of a 7-DOF redundant robot is carried out, which verifies the validity of the built models.