Acceleration-Level Obstacle Avoidance of Redundant Manipulators

Avoiding obstacle during path planning is a crucial issue in redundant manipulators. In this study, the obstacle avoidance of redundant manipulators, which is investigated at acceleration level, is presented. Specifically, a new acceleration-level inequality is designed and formulated, which is proven to be capable of avoiding obstacle. By combining the end-effector planning requirement (formulated as equality constraint) and incorporating the physical limits (formulated as bound constraints), the acceleration-level obstacle avoidance (ALOA) scheme for redundant manipulators is proposed. Such scheme is transformed into a quadratic program and is computed by a numerical algorithm. Simulation results under the PA10 manipulator with different obstacles further validate the effective performance of the proposed ALOA scheme.