Region tracking and collision avoidance control for the manipulator

Abstract:

Aiming at the problem of human-robot interaction and anti-collision of the medical nursing manipulator in the process of trajectory tracking, a control method of the manipulator is proposed based on target region tracking and collision prediction. In this paper, according to Lyapunov function and combined with the artificial potential field, the controller to ensure the system stability is designed to achieve human-robot interaction in the target area of compliance. The collision avoidance prediction model is constructed by the distance of collision and the time of collision, and the correlation model between the radius of obstacle and the safety index of collision avoidance is established to realize the real-time change of the radius of obstacle. Experimental results show the experimental results show that the proposed method can perform target area tracking effectively and makes the human-computer interaction compliance, the obstacle avoidance process is efficient and smooth.