Natural Dynamics of Robot Manipulators in the Presence of Obstacles

Abstract

This paper presents the natural dynamic control problem of robot manipulators and its application to collision avoidance and path planning. A set of moving convex obstacles (or polyhedron) are modeled to achieve the desired conditions for collision detection and avoidance. The conditions represent a set of inequality constraints which are automatically incorporated to assure collision free motion. A minimum dimensional problem is achieved through the use of the null space of the Jacobian matrix associated with the constraint equations. A simple example to illustrate the procedures developed above is given.