A geometrical bounded method for the on-line obstacle avoidance of redundant manipulators

In this article a fast, geometrically bounded, method for the online obstacle avoidance of redundant manipulators is presented. The approach is based on formulating an inverse kinematics problem under an inexact context. This approach allows to deal with the avoidance of obstacles utilizing an appropriate and easy to calculate null space, geometrically bounded based, vector; whereas the avoidance of singularities is attained by the proper pseudoinverse robustness. Here the computation of the inverse kinematics problem is accomplished by solving numerically a linear system, which includes the vector for obstacle avoidance and a proper scheme for the proper pseudoinverse robustness. The developed algorithm is successfully tested on the simulation of a 7 DOF redundant manipulator