Solving the Inverse Kinematics Problem of Multiple Redundant Manipulators with Collision Avoidance in Dynamic Environments

This article presents an approach for collision-free kinematics of multiple redundant manipulators in complex environments. The approach describes a representation of task space and joint limit constraints for redundant manipulators and handles collision-free constraints by micromanipulator dynamic model and velocity obstacles. A new algorithm based on Newton-based and first-order techniques is proposed to generate collision-free inverse kinematics solutions. The present approach is applied in simulation for the redundant manipulators in a various working environments with dynamic obstacles. The physical experiments using a Baxter robot in a various working environments with dynamic obstacles are also performed. The results demonstrate the effectiveness of the proposed approach compared with existing methods regarding working environment and computational cost.