A Multiobjective Programming Approach for a Collision Free Movement of a Robot Manipulator

摘要

Collision avoidance problem of a robot manipulator has been studied quite extensivey by many researchers. In this paper, a new approach for this problem is proposed:“Some of the collision avoidance problem can be formulated as a multiobjective programming problem which has the following two kinds of the objective functions (A) & (B).”(A) The objective function which forces the end effector of the manipulator trace the ideal path.(B) The objective function which keeps each link of the manipulator at a distance from obstacles in the workspace in order to avoid collisions.The satisficing trade-off method is utilized in order to solve the multiobjective problem with the two kinds of objective functions (A) & (B). Several computer simulation results confirm our new approach.