A novel redundancy resolution method to avoid joint limits and obstacles on anthropomorphic manipulator

Joint limits and obstacles are troublesome factors of practical robot manipulator operation. This paper suggests a novel redundancy resolution method for 7-degree of freedom (DOF) anthropomorphic manipulator with joint limits and obstacles. And this paper proposes the criterion for setting the bounds of obstacle too. To model and analyze the inverse kinematic problem in position domain, we use arm angle parameterization method. Consequently, we choose an appropriate arm angle which makes the manipulator avoid the joint limit of each joint and obstacles. By using this method, we can attain inverse kinematic solution which avoids joint limits and obstacles effectively.