Fig. 1. Configuration diagram of a 9-DOF redundant robotic manipulator

Fig. 2. Model of obstacle avoidance space

Fig. 3. Flowchart of improved grey wolf optimizer

Fig. 4. Configuration changes when obstacle avoidance function is turned off

Fig. 5. Configuration changes when obstacle avoidance function is turned on

Fig. 6. Motion trajectory for Λ=0.02

Fig. 7. Trajectory tracking error for Λ=0.02

Fig. 8. Minimum distance between the links and the obstacle

Fig. 9. Convergence curve of optimizer

Fig. 10. Experimental platform for the 9-DOF redundant robotic manipulator

Fig. 11. Photos of experimental results of trajectory tracking and obstacle avoidance

Fig. 12. Motion trajectories obtained from the experiment