A Novel Division Based Self-Motion Algorithm for Avoiding Obstacles for Redundant Manipulators

It is proposed to introduce a novel division based self- motion scheme for redundant joint manipulators to avoid obstacles in a static and known environment. The proposed scheme chooses an intuitionistic manifold of self-motion throughout the workspace. A review of the traditional research on self-motion manifolds for redundant manipulators is presented in this paper. And after an overview of the proposed approach, a comparison between the traditional techniques and this algorithm is made. A 9-DoF modular manipulator illustrates the methodology. Also, an experiment is carried out to verify the effectiveness of this scheme. Although discussed and illustrated mainly by a three degrees of redundancy, it is possible to extend this algorithm to lower or even higher degrees of redundancy.