Abstract
We propose an algorithm for automatic motion generation of a manipulator using virtual repulsive forces whose size is defined on the basis of the distance between the manipulator and obstacles, and its force direction is defined as outward way from the surface of obstacles. The motion path of the end effecter is modeled as the structure with mass points and springs, and its form is changed by the repulsive forces to generate collision-free path. The collision-free posture of the manipulator is also generated using repulsive forces, the posture is modified by the amount of joints torques which is transformed from acting repulsive forces. We have applied this algorithm to the 7-DOF manipulator, and it is confirmed that this method is able to automatically generate collision-free approach and trace motions.
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