Obstacle avoidance of manipulator's with rate constraints

The paper presents a new control method which achieves autonomous obstacle avoidance for manipulators with rate constraints. More precisely, in order to achieve the autonomous obstacle avoidance; we exploit the freedom of the coordinate transformation for feedback linearization of nonlinear control systems. At the same time, we cope with the rate constraints by adopting the state-dependent time scale transformation. Furthermore, we apply this method to an actual two-link robot manipulator, and evaluate its effectiveness by experiment, which is the most important part of the paper.