Obstacle Avoidance for Redundant Robot Based on the Optimal Decision of Configurations

To make a redundant robot implement the end-effector task in an obstacle environment,this paper first proposes a new collision avoidance strategy based on the optimal decision of configurations,which optimizes the comprehensive performance of the manipulator while avoiding obstacles.Then,the feasibility of the proposed approach is verified with the simulation and experiment of a 3R-2P redundant robot.