Research on obstacle avoidance by virtual force for redundant robot

This paper present a new method of obstacle avoidance for redundant robot with tool-tip restrictions. This method introduced virtual force and kinematic of multibody system into obstacle avoidance. The robot avoided obstacle in real-time based on the obstacle avoidance force and the attraction of mission path. Obstacle avoidance algorithm improves accuracy and efficiency by the partition of operating area and the accurate computation of obstacle avoidance force. The approach implements collision avoidance without kinematics optimization and improves the real-time performance.