OBSTACLE AVOIDANCE STRATEGY BASED ON THE EXTENDED JACOBIAN METHOD

Abstract

This paper presents an iterative strategy for redundancy resolution with obstacle avoidance. The need for dexterous and versatile robotic manipulations had led to the development of kinematic arms. Redundancy of a serial manipulator means that more joints than necessary are available in order to achieve a specified task of the manipulator end-effector. Manipulators are thus allowed to achieve complex tasks by taking into account additional constraints. In redundancy resolution, obstacle avoidance is considered as a performance criterion and, in this paper, is performed using specific solution offered by Extended Jacobian Method, while the end-effector follows a pre-determined path in workspace. Simulation results for a planar redundant manipulator avoiding a restricted surface are also presented