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Journal of Control Science and Engineering
Volume 2015, Article ID 540259, 9 pages
Research Article

Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm

College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China

Received 23 October 2014; Revised 14 December 2014; Accepted 21 December 2014

Academic Editor: Onur Toker

Copyright © 2015 Haoyu Shen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


To deal with the problem of obstacle avoidance for redundant robots, an obstacle avoidance algorithm based on the internal motion of the 7-DOF redundant anthropomorphic arm is presented. The motion of that critical points move away from the closest points on the obstacles is defined as obstacle avoiding motion. Two transitioning variables were used to make a smooth, continuous transition between the primary and the secondary tasks. Using this approach, the robot can get the target configuration while avoiding the obstacles. Finally, the validity of the obstacle avoidance algorithm based on transitioning between tasks is manifested by simulation. The results show that, for the obstacle avoiding problem, the redundant robot not only can realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.