Moving obstacle avoidance for redundant manipulator via weighted least norm method

Collision avoidance is quite an important issue for manipulator control, due to the safety reason for manipulator and the environment. However, most of the research concentrate on immobile obstacles in a static environment, and few studies concerns collision avoidance in a dynamic environment. In this paper, we propose a Weighted Least Norm method to avoid the collision with a moving obstacle for redundant manipulator. Simulation on a 7-DOF plannar manipulator demonstrates the validity of the algorithm.