Obstacle avoidance algorithm for redundant robots based on collision feedback
LI Yaxin1, WANG Guolei1, ZHANG Jianhui1, TIAN Xinliang2, AN Jing3, CHEN Ken1
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; 2. School of Technology, Beijing Forestry University, Beijing 100084, China; 3. Avic Xi'an Aircraft Industry Group Company Ltd, Xi'an 710089, China
Abstract：Robots for spraying in complex enclosed pipeline parts need effective obstacle avoidance capabilities. An obstacle avoidance algorithm was developed based on collision detection feedback for a redundant manipulator. The projection intersection method was used to detect a collision with the collision types divided into avoidable and unavoidable collisions. A dynamic adjustment algorithm using joint-weights was developed for avoidable collisions to restrict the collision joints while relaxing the restrictions on the other joints to optimize the motion for obstacle avoidance. For unavoidable collisions, the "lever principle" was used to adjust the obstacle avoidance by adjusting the normal direction to the target point. Finally, the joint acceleration was optimized to modify the trajectory and reduce the inertial impact of the robot. Simulations verify the feasibility of this algorithm.
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2022, Vol. 62 
