An Obstacle Avoidance Control Strategy for DELTA Parallel Manipulator via Improved Genetic Algorithm

Aiming at the requirement of the DELTA parallel manipulator for performing grasping operations, a method for obstacle avoidance based on a genetic algorithm is proposed. Firstly, the classical DELTA parallel manipulator is analyzed mathematically, and its model is simplified. Then, the motion space and inverse kinematics solutions of the DELTA parallel manipulator are solved by using the spatial geometry method. Secondly, a cylindrical envelope surface is added to the manipulator’s end for distance calculation. This envelope surface ensures that obstacles do not collide with the manipulator during obstacle avoidance. Thirdly, an improved genetic algorithm is proposed for obstacle avoidance. Finally, the simulation results are given to verify the effectiveness and reliability of the proposed algorithm.