Path planning research and simulation of planar 3R redundant robot

Taking planar 3R redundant robot as study object, the obstacle avoidance of redundant robot path planning method is researched. The appropriate obstacle avoidance potential function is constructed with the calculation method of obstacles to links improved and the obstacle avoidance constraints simplified. Based on the resolved motion rate control (RMRC), the redundant robot inverse kinematics is resolved and the path planning is realized. The efficiency of this method is proved by the simulation of robot tracking different trajectory and avoiding static and dynamic obstacles in the work space.