Redundant Inverse Kinematics System for Obstacles Avoidance

In this paper the authors relate to the robotic systems to avoid the obstacles while positioning end-effectors. A new strategy to on-line collision-avoidance of the redundant robots with obstacles is presented. The strategy allows the use of redundant degrees of freedom such that a manipulator can avoid obstacles while tracking the desired endeffectors trajectory. The strategy is based on the redundant inverse kinematics and leads to the favourable use of the abilities of redundant robots to avoid the collisions with obstacles. The effectiveness of the proposed method is discussed by theoretical considerations and illustrated by simulation of the motion of the four-joint planar manipulators between symmetric obstacles.