A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

Figure 10

Avoiding the obstacle close to the end-effector by using LRCM in real-time. The initial joint angles . (a), (e) Static obstacle by using LRCM. (b), (f) Moving obstacle by using LRCM. (c), (g) Static obstacle by using artificial potential field. (d), (h) Moving obstacle by using artificial potential field. Subfigures (a)–(d) show the movement of 3D model. Subfigures (e)–(h) show the movement of the simplified model.

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