Design of obstacle avoidance in high tracking accuracy for spatial manipulator

Aiming at the shortage of traditional obstacle avoidance algorithm, an obstacle avoidance algorithm based on spatial operator algebra which applicable to multiple obstacles is put forward in this paper; the complexity of Jacobian is greatly simplified by the algorithm based on Spatial operator algebra (SOA), and the minimum distance between each obstacle and manipulator is calculated by the algorithm, and transformed to the escape speed of each bar by the Jacobian transpose matrix. With the gradient projection method, the escape speed of each bar is used to obtain the joint velocity related. At the same time, with the position tracking control of the end, the obstacle avoidance control could be obtained, which can ensure that the efficiency of calculation is O(N) and accuracy of position the end reach is high, based on efficient modeling method in kinematics and dynamics. A manipulator with 7-DOF is used in the simulation whose results verify the correctness and effectiveness of the algorithm.