This article presents an approach for collision-free kinematics of multiple redundant manipulators in complex environments. The approach describes a representation of task space and joint limit constraints for redundant manipulators and handles collision-free constraints by micromanipulator dynamic model and velocity obstacles. A new algorithm based on Newton-based and first-order techniques is proposed to generate collision-free inverse kinematics solutions. The present approach is applied in simulation for the redundant manipulators in a various working environments with dynamic obstacles. The physical experiments using a Baxter robot in a various working environments with dynamic obstacles are also performed. The results demonstrate the effectiveness of the proposed approach compared with existing methods regarding working environment and computational cost.

本文提出了一种在复杂环境中实现多个冗余机械手的无碰撞运动学的方法。该方法描述了冗余操纵器的任务空间和关节极限约束的表示，并通过微型操纵器动力学模型和速度障碍物来处理无碰撞约束。提出了一种基于牛顿和一阶技术的新算法来产生无碰撞的逆运动学解。本方法适用于具有动态障碍物的各种工作环境中的冗余机械手的仿真。还使用百特机器人在各种具有动态障碍的工作环境中进行了物理实验。