Collision avoidance with a redundant articulated robot: an implicit approach

A resolved-motion rate control method which causes the distal links of a redundant articulated robot to avoid collisions by following the path planned for the tool tip is described. The method is presented for a robot with n+2 links and 2n+3 joints. Explicit closed-form equations for the joint rates are developed. A recursive formulation of a feedback control law is derived for the joint velocities of the 2n distal joints. Path tracking performance is illustrated with two simulation examples