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

<div>The changes of positions and attitude based on the proposed method in tracking a moving object. (a) The position error between end-effector and object. (b) The attitudes <svg height="8.68572pt" id="M146" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 9.55998 8.68572" width="9.55998pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 659C666 654 622 640 595 610C579 591 569 572 562 530L552 472C530 342 504 307 403 302V529C403 604 411 617 483 622V650H238V622C310 617 318 604 318 529V302C232 308 194 347 172 471L161 531C153 573 145 592 131 609C103 643 59 654 25 659L15 632C62 611 63 583 73 524L85 452C97 383 116 347 155 316C199 282 255 269 318 267V122C318 46 310 33 233 28V0H489V28C412 33 403 46 403 122V267C470 269 518 283 559 315C599 346 618 378 632 450L646 519C658 580 665 608 709 632L699 659Z" id="g113-152"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="725" vert-adv-y="725"></glyph.data></g></svg> and <svg height="14.1238pt" id="M147" style="vertical-align:-5.487901pt" version="1.1" viewbox="-0.0498162 -8.6359 20.668 14.1238" width="20.668pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 659C666 654 622 640 595 610C579 591 569 572 562 530L552 472C530 342 504 307 403 302V529C403 604 411 617 483 622V650H238V622C310 617 318 604 318 529V302C232 308 194 347 172 471L161 531C153 573 145 592 131 609C103 643 59 654 25 659L15 632C62 611 63 583 73 524L85 452C97 383 116 347 155 316C199 282 255 269 318 267V122C318 46 310 33 233 28V0H489V28C412 33 403 46 403 122V267C470 269 518 283 559 315C599 346 618 378 632 450L646 519C658 580 665 608 709 632L699 659Z" id="g113-152"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="725" vert-adv-y="725"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,8.32,3.132)"><path d="M262 451C169 451 38 375 38 210C38 98 121 -12 261 -12C360 -12 481 64 481 227C481 351 386 451 262 451ZM249 414C337 414 385 320 385 204C385 70 333 25 272 25C189 25 134 117 134 241C134 355 189 414 249 414Z" id="g58-109"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="519" vert-adv-y="519"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,12.997,3.132)"><path d="M156 406V710C117 695 54 682 9 675V647C73 642 75 635 75 573V25C131 -2 180 -12 223 -12C359 -12 478 92 478 240C478 357 387 451 278 451C265 451 251 447 236 440L156 406ZM156 373C175 384 208 392 235 392C315 392 387 328 387 214C387 97 332 30 251 31C197 31 170 66 162 84C158 93 156 104 156 118V373Z" id="g58-96"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="517" vert-adv-y="517"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,17.601,3.132)"><path d="M139 535C170 535 192 560 192 589C192 621 169 644 140 644C109 644 86 621 86 589C86 560 110 535 139 535ZM35 387C99 379 105 374 105 307V114C105 22 103 -35 96 -78C89 -113 82 -131 70 -146C55 -162 30 -174 -1 -181C-16 -184 -23 -192 -23 -207C-23 -232 0 -253 15 -253C24 -253 33 -249 41 -242C63 -223 127 -148 162 -48C181 6 186 47 186 117V453C143 435 93 422 36 414L35 387Z" id="g58-104"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="263" vert-adv-y="263"></glyph.data></g></svg>; the attitude error between <svg height="8.68572pt" id="M148" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 9.55998 8.68572" width="9.55998pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 659C666 654 622 640 595 610C579 591 569 572 562 530L552 472C530 342 504 307 403 302V529C403 604 411 617 483 622V650H238V622C310 617 318 604 318 529V302C232 308 194 347 172 471L161 531C153 573 145 592 131 609C103 643 59 654 25 659L15 632C62 611 63 583 73 524L85 452C97 383 116 347 155 316C199 282 255 269 318 267V122C318 46 310 33 233 28V0H489V28C412 33 403 46 403 122V267C470 269 518 283 559 315C599 346 618 378 632 450L646 519C658 580 665 608 709 632L699 659Z" id="g113-152"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="725" vert-adv-y="725"></glyph.data></g></svg> and <svg height="14.1238pt" id="M149" style="vertical-align:-5.487901pt" version="1.1" viewbox="-0.0498162 -8.6359 20.668 14.1238" width="20.668pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 659C666 654 622 640 595 610C579 591 569 572 562 530L552 472C530 342 504 307 403 302V529C403 604 411 617 483 622V650H238V622C310 617 318 604 318 529V302C232 308 194 347 172 471L161 531C153 573 145 592 131 609C103 643 59 654 25 659L15 632C62 611 63 583 73 524L85 452C97 383 116 347 155 316C199 282 255 269 318 267V122C318 46 310 33 233 28V0H489V28C412 33 403 46 403 122V267C470 269 518 283 559 315C599 346 618 378 632 450L646 519C658 580 665 608 709 632L699 659Z" id="g113-152"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="725" vert-adv-y="725"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,8.32,3.132)"><path d="M262 451C169 451 38 375 38 210C38 98 121 -12 261 -12C360 -12 481 64 481 227C481 351 386 451 262 451ZM249 414C337 414 385 320 385 204C385 70 333 25 272 25C189 25 134 117 134 241C134 355 189 414 249 414Z" id="g58-109"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="519" vert-adv-y="519"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,12.997,3.132)"><path d="M156 406V710C117 695 54 682 9 675V647C73 642 75 635 75 573V25C131 -2 180 -12 223 -12C359 -12 478 92 478 240C478 357 387 451 278 451C265 451 251 447 236 440L156 406ZM156 373C175 384 208 392 235 392C315 392 387 328 387 214C387 97 332 30 251 31C197 31 170 66 162 84C158 93 156 104 156 118V373Z" id="g58-96"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="517" vert-adv-y="517"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,17.601,3.132)"><path d="M139 535C170 535 192 560 192 589C192 621 169 644 140 644C109 644 86 621 86 589C86 560 110 535 139 535ZM35 387C99 379 105 374 105 307V114C105 22 103 -35 96 -78C89 -113 82 -131 70 -146C55 -162 30 -174 -1 -181C-16 -184 -23 -192 -23 -207C-23 -232 0 -253 15 -253C24 -253 33 -249 41 -242C63 -223 127 -148 162 -48C181 6 186 47 186 117V453C143 435 93 422 36 414L35 387Z" id="g58-104"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="263" vert-adv-y="263"></glyph.data></g></svg>.</div>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators 

Figure 4 | A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators 