[1] [1] HUANG X L, LIANG B, WU H X. A survey on robotics collision avoidance planning ［J］. Aerospace Control, 2002, 20(1): 34-40, 46. (in Chinese)

[2] [2] ZHANG F, YAN G ZH, LIN L M. Multi-robot path planning-oriented and fuzzy model-based reinforcement function structures ［J］. Opt. Precision Eng., 2002, 10(2): 148-153. (in Chinese)

[3] [3] XIE B Y, ZHAO J,LIU Y. Motion planning of reaching point movements for 7R robotic manipulators in obstacle environment based on rapidly-exploring random tree algorithm ［J］. Journal of Mechanical Engineering, 2012, 48(3): 63-69. (in Chinese)

[4] [4] ZHOU F, ZHU Q D, ZHAO G L. Path optimization of manipulator based on the improved rapidly-exploring random tree algorithm ［J］. Journal of Mechanical Engineering, 2011, 47(11): 30-35. (in Chinese)

[5] [5] HUANG Y F. Simplified method for C-space obstacle avoidance path planning of space robotics ［J］. Software Guide, 2012, 11(4): 27-29. (in Chinese)

[6] [6] YANG M Y, SUN H X, JIA Q X, et al.. Research on path planning for 7-DOF space manipulator to avoid obstacle ［J］. Spacecraft Engineering, 2011, 20(4): 65-71. (in Chinese)

[7] [7] WANG Y, JIA Y H, XU SH J. Collision-free motion planning algorithm for redundant space manipulators during coarse target capturing ［J］. Chinese Space Science and Technology, 2012, 32(3): 49-56. (in Chinese)

[8] [8] MACIEJEWSKI A A, KLEIN C A. Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments ［J］. The International Journal of Robotics Research, 1985; 4(3):109-117.

[9] [9] GLASS K, COLBAUGH R, LIM D, et al.. Real-time collision avoidance for redundant manipulators ［J］. IEEE Transactions on Robotics and Automation, 1995, 11(3):448-457.

[10] [10] FENG A S, DAI J. Obstacle avoidance control about redundant manipulator ［J］. Robot, 2002, 24(3): 213-216. (in Chinese)

[11] [11] WANG J L, ZHANG G L, YANG F, et al.. Improved artificial field method on obstacle avoidance path planning for manipulator [J/OL]. Computer Engineering and Applications, [2012-06-29]. http://www.cnki.net/kcms/detail/11.2127.TP. 20120629.1645.001.html. (in Chinese)

[12] [12] GUO Z Y, HSIA T C. Joint trajectory generation for redundant robots in an environment with obstacles ［C］. IEEE International Conference on Robotics and Automation, Piscataway, NJ, USA, 1990: 157-162.

[13] [13] BROCK O, KHATIB O, VIJI S. Task-consistent obstacle avoidance and motion behavior for mobile manipulation ［C］. IEEE International Conference on Robotics and Automation, Piscataway, NJ, USA, 2002,1: 388-393.

[14] [14] KREUTZ-DELGADO K, LONG M, SERAJI H. Kinematic analysis of 7 DOF anthropomorphic arms ［C］. IEEE International Conference on Robotics and Automation, Piscataway, NJ, USA, 1990: 824-830.

[15] [15] ZHENG SH X, LIU G X, YAN H, et al.. Applications of robotics vision system in automatic assembly ［J］. Opt. Precision Eng., 1998, 6(1): 90-94. (in Chinese)

[16] [16] ZHOU Y, WANG B, JIANG L, et al.. A real-time controller development framework for high degrees of freedom systems ［C］. IEEE International Conference on Mechatronics and Automation, Piscataway, NJ, USA, 2012: 291-296.