Redundant Robot Obstacle Avoidance And Dynamics Of The Control Simulation

This paper primarily studys that how to make robot system works smoothly under condition of random obstacles by sensing environmental informations, on the other hand,the robot control system use dynamics method instead of location one to command manipulators performance, as a result,impact force between manipulators each other which is caused velocity_break will be reduced greatly,and then,manipulators' life_span will improve naturally,and because of reliable obstacles-avoidance arithmetics,robot system is almost able to feedback to obstacles as fast as it be,this character makes its intelligence mount up greatly.The control system is confirmed by simulation experiments of a plane 3-pole 3--dimension manipulator.It indicates that the system could track the desired trajectory and avoid the obstacles simultanously,so the achievement do has certain value in use.Following dominant points are included in this paper: sensitivity conseption,general coordination method and avoidance arithmetic etc.