中文摘要：

针对具有末端位姿约束的冗余度机器人,提出了一种实现障碍回避的新方法。该方法将虚拟力和多体动力学引入冗余度机器人的自主避障中,机器人在避障力、任务路径吸引力等综合作用下实时地回避障碍物。避障算法对机器人的工作区域进行划分,并实现末端关节避障力的精确计算。该方法使障碍回避过程不再依赖于运动学优化,提高了系统的实时性。

英文摘要：

This paper present a new method of obstacle avoidance for redundant robot with tool-tip restrictions.This method introduced virtual force and kinematic of multibody system into obstacle avoidance.The robot avoided obstacle in real-time based on the obstacle avoidance force and the attraction of mission path.Obstacle avoidance algorithm improves accuracy and efficiency by the partition of operating area and the accurate computation of obstacle avoidance force.The approach implements collision avoidance without kinematics optimization and improves the real-time performance.