Obstacle Avoidance for Redundant Manipulators Utilizing a Backward Quadratic Search Algorithm

[摘要] Obstacle avoidance can be achieved as a secondary task by appropriate inverse kinematics (IK) resolution of redundant manipulators. Most prior literature requires the time-consuming determination of the closest point to the obstacle for every calculation step. Aiming at the relief of computational burden, this paper develops what is termed a backward quadratic search algorithm (BQSA) as another option for solving IK problems in obstacle avoidance. The BQSA detects possible collisions based on the root property of a category of quadratic functions, which are derived from ellipse-enveloped obstacles and the positions of each link's end-points. The algorithm executes a backward search for possible obstacle collisions, from the end-effector to the base, and avoids obstacles by utilizing a hybrid IK scheme, incorporating the damped least-squares method, the weighted least-norm method and the gradient projection method. Some details of the hybrid IK scheme, such as values of the damped factor, weights and the c...

[学科分类] 自动化工程

[关键词] Inverse Kinematics;Redundant Manipulators;Obstacle Avoidance;Backward Quadratic Search Algorithm