How to understand obstacle avoidance control of robotic arms? The kinematic redundant degrees of freedom of a robotic arm refer to the fact that the robotic arm has more degrees of freedom than its tail end requires. Kinematically redundant degrees of freedom robotic arms have better mechanical performance than non redundant degrees of freedom robotic arms.
For example, non redundant degrees of freedom robotic arms face significant limitations when there are obstacles in the external environment, while kinematic redundant degrees of freedom robotic arms can effectively achieve their goals. Due to the presence of singular points, the workspace of non redundant degrees of freedom robotic arms is hindered, while kinematic redundant degrees of freedom robotic arms can effectively solve such problems. Generally speaking, there are two main methods for obstacle avoidance control of robotic arms. One method is to perform path planning at a higher level, so that the tail end of the robotic arm can avoid obstacles through offline path planning. This method can ensure the global optimization of the robotic arm, but it cannot achieve online control. Another method is to avoid obstacles online through the controller of the robotic arm. Many scholars have proposed their own methods for online obstacle avoidance control. Many algorithms are based on the pseudo inverse matrix method. The obstacle avoidance control of a robotic arm can enable it to avoid obstacles during operation and better utilize the superior performance of a redundant degree of freedom robotic arm.
