Avoiding obstacle control for manipulators of the hot-line work robot

With the society´s development, the demand for the stable power supply is more and more stringent and many countries are conducting research on the hot-line maintenance robots. In this paper, the research focused on the control of seven-degree manipulator of the hot-line maintenance robots is discussed. The kinematics analysis of the seven degree manipulator is proposed. An algorithm is presented to solve inverse mathematics based on obstacle avoidance. A simple method to compute the distance between obstacle and manipulator is presented.