Obstacle Avoidance for Robot Manipulator
Kinematic redundancy allows a manipulator to have more joints than required and could make the robot more flexible in the obstacles avoidance. This chapter first introduces the concept of kinematic redundancy. Then, a human robot shared controller is developed for teleoperation of redundant manipulator by developing an improved obstacle avoidance strategy based on the joint space redundancy of the manipulator. Next, a self identification method is described based on the 3D point cloud and the forward kinematic model of the robot. By implementing a space division method, the point cloud is segmented into several groups which represent the meaning of the points. A collision prediction algorithm is then employed to estimate the collision parameters in real time. The experiment using the Kinect sensor and the Baxter robot has demonstrated the performance of the proposed algorithms.