On-line optimization of avoidance ability for redundant manipulator

This study is intended to build a controller of redundant manipulator with the simultaneous ability of trajectory tracking and obstacle avoidance without any preparation of path planning to achieve full automation even for one production of one kind, while keeping the avoidance ability high and keeping its shape away from obstacle to reduce the possibility that the manipulator crashes to the obstacle. To evaluate the avoidance ability of the intermediate links, a scalar value of Avoidance Manipulability Shape Index(AMSI) was proposed, which is independent of the obstacle's shape. On the other hand, the danger to crash to the obstacle is depending on the shape of the obstacle, which could be evaluated by the potential field set around the obstacle. This paper just proposes a control method of the manipulator's shape based on Avoidance Manipulability Shape Index with Potential(AMSIP) to simultaneously avoid obstacle and keep the avoidance ability high while tracking the hand trajectory.