Avoiding obstacle during path planning is a crucial issue in redundant manipulators. In this study, the obstacle avoidance of redundant manipulators, which is investigated at acceleration level, is presented. Specifically, a new acceleration-level inequality is designed and formulated, which is proven to be capable of avoiding obstacle. By combining the end-effector planning requirement (formulated as equality constraint) and incorporating the physical limits (formulated as bound constraints), the accelerationlevel obstacle avoidance (ALOA) scheme for redundant manipulators is proposed. Such scheme is transformed into a quadratic program and is computed by a numerical algorithm. Simulation results under the PA10 manipulator with different obstacles further validate the effective performance of the proposed ALOA scheme. INDEX TERMS Acceleration-level obstacle avoidance, redundant manipulators, quadratic program.

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In this paper, the inverse kinematics (IK) of redundant manipulators is presented and studied, where the performance of end-effector path planning is guaranteed. A new Jacobian pseudoinverse (JP)-based IK method is proposed and studied using a typical numerical difference rule to discretize the existing IK method based on JP. The proposed method is depicted in a discrete-time form and is theoretically proven to exhibit great performance in the IK of redundant manipulators. A discrete-time repetitive path planning (DTRPP) scheme and a discrete-time obstacle avoidance (DTOA) scheme are developed for redundant manipulators using the proposed method. Comparative simulations are conducted on a universal robot manipulator and a PA10 robot manipulator to validate the effectiveness and superior performance of the DTRPP scheme, the DTOA scheme, and the proposed JP-based IK method.

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