Acceleration-level obstacle-avoidance scheme for motion planning of redundant robot manipulators

Abstract

An acceleration-level inequality constraint (including its algorithmic detail) is presented and investigated in this paper to perform obstacle avoidance. Based on this constraint, the obstacle-avoidance scheme at the joint-acceleration level is then developed for motion planning of redundant robot manipulators. Such an obstacle-avoidance scheme is depicted in a quadratic program. Via the PA10 robot manipulator with the existence of point and window-shaped obstacles, simulation results further substantiate the efficacy and feasibility of the presented acceleration-level obstacle-avoidance scheme.