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A novel potential-based path planning of 3-D articulated robots with moving bases
Chien-Chou Lin, Chi-Chun Pan, Jen-Hui Chuang
Journal:

Robotica / Volume 22 / Issue 4 / August 2004

Published online by Cambridge University Press:

26 November 2004, pp. 359-367
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This paper proposes a novel path planning algorithm of 3-D articulated robots with moving bases based on a generalized potential field model. The approach computes, similar to that done in electrostatics, repulsive forces and torques between charged objects. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these forces and torques. The proposed approach is efficient since these potential gradients are analytically tractable. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation efficiency.