A new obstacle avoidance method for discretely actuated hyper-redundant manipulators

In this paper, a new method is proposed for solving the obstacle avoidance problem of discretelyactuated hyper-redundant manipulators. in each step of the solution, the closest collision to the base isremoved and then the configuration of the next part of the manipulator is modified without consideringthe obstacles. this process is performed repeatedly until no collision is found. the suthakorn method isapplied to solve the inverse kinematics problem. two new ideas are proposed to reduce the errors of thismethod: the two-by-two searching method, and iterations. to verify the proposed method, some problemsare solved numerically for 2d and 3d manipulators, each in two different obstacle fields, and the resultsare compared with those obtained by the genetic algorithm method.