Joint trajectory generation for redundant robots in an environment with obstacles

摘要

Abstract Collision avoidance is an absolutely essential requirement for a robot to complete a task in an environment with obstacles. For kinematically redundant robots, collision avoidance can be achieved by making full use of the redundancy. In this article, the problem of determining collision‐free joint space trajectories for redundant robots in an environment with multiple obstacles is considered, and the “command generator” approach is employed to generate such trajectories. In this approach, a nondifferentiable distance objective function is defined and is guaranteed to increase wherever possible along the trajectory through a vector in N(J) , the null space of Jacobian matrix J. Algorithms that implement this nondifferentiable optimization problem are fully developed. It is shown that the proposed collision‐free trajectory generation scheme is efficient and practical. Extensive simulation results of a four‐link robot example are presented and analyzed.