A Novel Obstacle Collision Avoidance Strategy for Redundant Manipulator using Swivel Motion Control The research of humanoid 7DoF redundant robotic manipulator has attracted increasing attention, due to its importance of using the redundancy to accomplish subtasks. In this paper, a novel obstacle collision avoidance strategy is proposed for the redundant manipulator. At first, a controller of swivel angle defined by a plane consists of the robotu0027s shoulder, elbow and wrist joints is designed. Then, a null space based controller is developed to avoid a moving obstacle by controlling the swivel angleu0027s motion. The designed swivel motion controller is not only to guarantee the endeffector tacking the desired trajectory precisely but also to accomplish obstacle avoidance task in the subspace with the virtual repulsive force pushing from the obstacle to the swivel joints. The feasibility of the proposed control strategy is proved by simulation experiments based on a 7DoF redundant robot.

Obstacle avoidance algorithm for dualarm robots based on task switching With the gradual popularization of robots, safety in operation has attracted more and more attention. Due to the existence of realtime obstacles, the safe workspace of robots is gradually compressed, and the original planned path will also lead to failure. In order to ensure that the robot will not be affected in operation, an online obstacle avoidance algorithm based on the offline trajectory is proposed in this paper. The algorithm divides the operation of the manipulator into two parts, one is to attract the main motion along the offline trajectory, the other is to avoid obstacles. By choosing obstacle avoidance parameters, the robot can switch between primary and secondary movements in realtime to avoid obstacles. Two special examples are selected in the postsimulation. One is the robot avoiding the fist model of the person fitted to the sphere, and the other is the simulation experiment of the selfavoidance obstacle of the dualarm robot. Simulation experiments and data results show that the algorithm proposed in this paper has strong practicability.