Research on Safe Motion Tracking Algorithm of Manipulator Based on Minimum Pseudo-Distance Criterion

To solve the problem of low-accuracy trajectory tracking in a complex environment, a novel collision-free endeffector trajectory tracking algorithm is proposed. In this paper, the minimum pseudo-distance is selected as the objective optimization function, and the nearest point is given the obstacle avoidance escape velocity by the gradient projection method based on sigmoid function. At the same time, an adaptive closed-loop position tracking algorithm is designed to reduce the position error of the robot in real-time. The MATLAB simulation results based on the 6-DOF manipulator (Without considering the end-effector posture) show that the developed algorithm can obtain low-error trajectory tracking outcomes, and while realizing obstacle avoidance subtask of the manipulator, which verifies the reliability and superiority of the proposed approach.