LengthOptimized smooth obstacle avoidance （LengthOptimized顺利避障）.pdfVIP

LENGTH-OPTIMIZED SMOOTH OBSTACLE AVOIDANCE FOR ROBOTIC MANIPULATORS Soheil S. Parsa1 1 2 , Juan A. Carretero , Roger Boudreau 1 Department of Mechanical Engineering, University of New Brunswick, Fredericton, NB, Canada 2 De´partement de ge´nie me´canique, Universite´ de Moncton, Moncton, NB, Canada E-mail: s.parsa@unb.ca; juan.carretero@unb.ca; roger.a.boudreau@umoncton.ca Received July 2011, Accepted October 2011 No. 11-CSME-69, E.I.C. Accession 3309 ABSTRACT This paper presents a novel optimized smooth obstacle avoidance algorithm for robotic manipulators. First, a 3–4–5 interpolating polynomial is used to plan a smooth trajectory between initial and final positions in the joint space without considering any obstacles. Then, a simple harmonic function, which is smooth and continuous in displacement, velocity and acceleration, is applied to generate a new smooth path avoiding collisions between the robot links and an obstacle. The obstacle avoidance portions on the path are optimized such that the length of the path traversed by the end-effector is minimized. Simulation results for a 6 DOF serial manipulator demonstrate the efficiency of the proposed method. Keywords: robotic manipulator; trajectory planning; smooth obstacle avoidance; joint space method. ´ ´ EVITEMENT D’OBSTACLES EN SUIVANT UNE TRAJECTOIRE OPTIMISEE POUR MANIPULATEURS ROBOTIQUES ´ ´ RESUME Cet article pre´sente un nouvel algorithme pour ge´ne´rer des trajectoires continues en e´vitant