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Generation of adjacent configurations for a collision-free path planning of manipulators

Published online by Cambridge University Press:  09 March 2009

Marco Ceccarelli ,
Francisco Valero ,
Vicente Mata  and
Ignacio Cuadrado†
Marco Ceccarelli
Affiliation:
Dept. of Industrial Engineering. University of Cassino. Via Zamosch 43–03043CASSINO (FR) (Italy).
Francisco Valero
Affiliation:
Dept. of Mechanical Engineering. Technical University of Valencia. Camino de Vera s/n-46022 VALENCIA (Spain).
Vicente Mata
Affiliation:
Dept. of Mechanical Engineering. Technical University of Valencia. Camino de Vera s/n-46022 VALENCIA (Spain).
Ignacio Cuadrado†
Affiliation:
Dept. of Mechanical Engineering. Technical University of Valencia. Camino de Vera s/n-46022 VALENCIA (Spain).
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Summary

In this paper an algorithm is proposed for the problem of path planning of redundant manipulators among obstacles by using a suitable formulation for robot configurations and path strategy. In particular robotic manipulators have been modelled by using reference points on the kinematic chain and their Cartesian coordinates description. The path planning has been formulated as an optimization problem for the determination of adjacent configurations and the path among obstacles with minimum manipulator displacement. The fully Cartesian coordinates description has been useful for the economy of the numerical procedure and for the constraints formulation of link interference and obstacles avoidance constraints. Some examples are reported which prove the practical feasibility of the path planning procedure, and the numerical results have been tested as applicable to industrial robots through easy programming because of the concept of adjacent configurations.

Keywords

Robot kinematicsRedundant manipulatorsObstacle avoidancePath planning
Type
Article
Information
Robotica , Volume 14 , Issue 4 , July 1996 , pp. 391 - 396
Copyright
Copyright © Cambridge University Press 1996

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