Closed Loop Control Algorithm for Obstacle Avoidance Based on the Transformation of Master and Slave Tasks

doi:10.3901/JME.2017.01.021

Abstract

Abstract: The research on obstacle avoidance algorithm of redundant manipulator has always been one of the hotspots in the field of robot. A closed loop control algorithm for obstacle avoidance based on the transformation of master and slave tasks is proposed aiming at the shortcomings of the traditional algorithm. It achieves the switch of the task of obstacle avoidance and the task of the desired trajectory tracking by monitoring the minimum distance between the mechanical arm and the obstacle, thus it can solve the conflict between obstacle avoidance and desired trajectory tracking. When mechanical arms avoid obstacle, the end tracking accuracy is poor, based on this, the error control between the desired and actual end effector locations is introduced which makes the tracking accuracy significantly improved. In addition, the algorithm also has the advantages of small amount of computation and continuous variation of the velocity of escape and it can also be applied to collision avoidance of many obstacles and dynamic obstacle. The algorithm is verified by the simulation experiment of planar redundant robot with three degrees of freedom. The results show that the algorithm can effectively solve the conflict when the obstacle is on the desired tracking and the accuracy is high. It can also finish the obstacle avoidance of many obstacles and dynamic obstacle.

Key words: closed-loop control, master slave task transformation, obstacle avoidance, redundant manipulator

ZHANG Jianhua, HU Ping, ZHANG Xiaojun, LIU Jinchang, LIU Xuan. Closed Loop Control Algorithm for Obstacle Avoidance Based on the Transformation of Master and Slave Tasks[J]. Journal of Mechanical Engineering, 2017, 53(1): 21-27.

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