Adaptive control for manipulator with avoiding the collision problem

In this paper, we describe a control method for a manipulator to avoid collisions with various obstacles in the path and how a manipulator is able to accelerate smoothly from any initial position. We propose an algorithm to calculate a manipulator´s route in a work space that includes the obstacle. This algorithm is a search method that divides the free space in cubic cells. And each cell is given a level value that expresses the distance from the cell to the obstacle. We distinguish between safety zone and dangerous zone by this value, and calculate the obstacle avoidance route. We control the manipulator to follow the target trajectory by model reference adaptive control. Consequently, we can obtain a route for the obstacle avoidance and control the manipulator to follow the target trajectory