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Obstacle avoidance method for fixed trajectory of a seven-degree-of-freedom manipulator

Published online by Cambridge University Press:  13 January 2023

Yuan Quan Open the ORCID record for Yuan Quan [Opens in a new window] ,
Ke Wang ,
Chong Zhao ,
Congmin Lv ,
Haifeng Zhao  and
Hongyu Lv
Yuan Quan
Affiliation:
Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, China
Ke Wang*
Affiliation:
Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, China
Chong Zhao*
Affiliation:
Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, China
Congmin Lv
Affiliation:
Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, China
Haifeng Zhao
Affiliation:
Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, China
Hongyu Lv
Affiliation:
Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing, China
*
*Corresponding author. Emails: wangke@csu.ac.cn, zhaochong@csu.ac.cn
*Corresponding author. Emails: wangke@csu.ac.cn, zhaochong@csu.ac.cn
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Abstract

This paper, based on the idea of redundancy angle discretisation, proposes an obstacle avoidance method for the fixed tip pose trajectory of a seven degrees-of-freedom (7-DOF) modular manipulator. First, for the case in which a specific redundancy angle is given, the analytical solutions of the redundant manipulator left 6-DOF subchain are found. Then, through the discretisation of the redundancy angle, the concept of the self-motion space of the tip pose is proposed and is extended to the concept of the self-motion space of the trajectory. Based on this discrete space, a path-planning algorithm is proposed to help select the appropriate redundancy angles to obtain the collision-free solution set of the fixed Cartesian trajectory. However, due to the large fluctuation of the obtained path, a path optimisation method based on the path cost is proposed to smooth the path, and the continuous and collision-free solution set of the manipulator tip’s trajectory is obtained. The method proposed in this paper provides a new thought for the problem of collision-free solution set planning for the Cartesian trajectory of a 7-DOF manipulator and it has great application potential in working environments with high accuracy requirements for the trajectory.

Keywords

redundancy angleredundant manipulatorinverse kinematicspath planningobstacle avoidance
Type
Research Article
Information
Robotica , Volume 41 , Issue 5 , May 2023 , pp. 1515 - 1535
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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