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

Figure 12

The simulation of tracking the moving object in multiple-dynamic obstacles environment. is the attitude of end-effector; is the attitude of the object. The initial joint angles . (a), (b) Tracking the moving object without observation and moving path prediction. (d) Observation and prediction. (e) Real-time tracking the object and avoiding obstacles. (c), (f) The whole process of tracking the object. (g) The attitudes , and the error between and . (h) The position error between end-effector and object. (i) The joint angular displacement. Subfigures (a), (c) show the movement of 3D model. Subfigures (b), (d)–(f) show the movement of the simplified model.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)