Research on Obstacle Avoidance Tracking Planning of Hyper-redundant Manipulator Based on VR Technology

In order to ensure that the super-redundant manipulator can work without collision in the obstacle space, this paper designs an obstacle avoidance trajectory planning method for the super-redundant manipulator based on VR technology. The super-redundant manipulator with seven degrees of freedom was selected as the research object, VR technology was introduced to construct the virtual model of the super-redundant manipulator, and the redundancy space of the manipulator was determined according to the model. Then, the pre-selected minimum distance index is selected as the obstacle avoidance index of the mechanical arm. Based on the calculated real-time minimum distance, the inverse kinematics equation of the mechanical arm is obtained by using the escape velocity dynamic obstacle avoidance algorithm, so as to realize the tracking planning of the obstacle avoidance trajectory of the super-redundant mechanical arm. Simulation experiment results show that: it can be seen from the curve of the joint Angle and angular velocity of the manipulator that the proposed method successfully avoided obstacles and reached the target configuration after the application of the proposed method, which met the requirements of the obstacle-avoidance trajectory tracking planning of the current hyperredundant manipulator, and fully proved the effectiveness of the proposed method.