The invention discloses a real-time
obstacle avoidance method of a collaborative
robot. The method comprises the steps that an
obstacle avoidance model is established in advance to build an inequationwhich describes real-time
obstacle avoidance of the
robot, the minimum speed norm is selected as a redundancy analysis scheme, a
motion control mode of a mechanical arm is designed, the physical constraint of the mechanical arm is modeled, the obstacle avoidance problem of the mechanical arm is modeled, the obstacle avoidance problem model of the mechanical arm is optimized and solved, the jointangular velocity control quantity of the
robot mechanical arm is obtained and sent to a mechanical arm controller, and the mechanical arm is controlled to avoid obstacles. According to the method, offline planning is not needed, the proposed
obstacle avoidance algorithm can achieve avoidance for static and dynamic obstacles without affecting the operation required to be executed by an end-
effector, the two operations are carried out at the same time without contradiction, the proposed
obstacle avoidance algorithm can simultaneously avoid the physical overrun of the mechanical arm, and in otherwords, the
joint angle and
angular velocity do not exceed practical limits.