A Novel Obstacle Avoidance Control Scheme for Hyper-Redundant Manipulators

  • Shugen Ma


Hyper-redundant manipulators have large number of kinematic degrees of freedom (DOFs), thus possessing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. In this article, we proposed a new obstacle avoidance control scheme for the hyper-redundant manipulator to avoid the existing static obstacles in environment while performing a pick-and-place task. Based on the analysis in the defined posture space where three parameters were used to determine the manipulator’s configuration, the obstacle collision-free path has been well generated. To guarantee that the manipulator in motion has no collision with obstacles, the path-tracking control for the manipulator to trace the path in the posture space was also discussed. The joint torques were formulated in the parameter of the posture space path and the posture space path-tracking feedforward controller was introduced on the basis of the parameterized joint torque formulation.


Joint Torque Posture Space Work Space Cell Decomposition Static Obstacle 
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Copyright information

© Springer Japan 2002

Authors and Affiliations

  • Shugen Ma
    • 1
  1. 1.Ibaraki UniversityHitachiJapan

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