Window-shaped obstacle avoidance for a redundant manipulator

Fan Tien Cheng, Yu Te Lu, York Yih Sun

Research output: Contribution to journalArticlepeer-review

34 Citations (Scopus)


The window-shaped obstacle avoidance problem is studied in this paper. Several research papers regarding obstacle avoidance including the method proposed by Zghal et al. which we believe is the most suitable for three-dimensional (3-D) window-shaped obstacle avoidance are studied. Consequently, several shortcomings of the Zghal's method are discovered. The Zghal's method will produce chattering solution sequences in joint rates due to its deficiency in determining the shortest distance between the manipulator links and the window edges. This paper proposes a new scheme to determine the shortest distance. This new scheme will remedy the chattering problem. Moreover, the nearest link (NL) method is developed for further improvement. Because the NL method only considers the nearest link in the performance criterion, the on-line weighting assignment problem of the Zghal's method is removed, also, less redundancy is required to accomplish the goal for obstacle avoidance. Therefore, the NL method will allow more redundancy to be useful for the other goals under multiple-goal application environments.

Original languageEnglish
Pages (from-to)806-815
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number6
Publication statusPublished - 1998

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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