Real-time obstacle avoidance algorithm research for telerobot

In order to reduce the operator\´s working strength and the damage that comes from the unknown obstacles to the telerobot, an obstacle avoidance algorithm for the telerobot is proposed based on virtual torque. In this algorithm, the virtual force between robot and obstacles is established using the principle of "the same sex is repulsive and the opposite sex is attractive". The function model of the virtual torque and the joint velocity is derived from the dynamic equation of the robot. Using this model, the robot can avoid obstacles real-time by adjusting the joint velocity. To verify the effectiveness and practicality of the algorithm, the simulation model of the robot is built using Matlab. At the same time, the continuous path movement of the robot is simulated in three-dimensional space in which there are dynamic obstacles. The simulation results show that the robot can return to the expected path quickly after it avoids the obstacles successfully.