A novel collision avoidance method for serial robots

In the offline definition of a robotic task, usually only objects and robot target positions are known. The movement definition between the positions is not trivial, especially in cluttered environments. In this paper, a collision avoidance method is proposed, able to move a serial robot away from a collision point autonomously. To take into account joint limits, the movement is defined in the joint space. Moreover, some parameters have been introduced to keep the robot at a minimum distance from the object.