An Approach To Manipulator Path Planning

Abstract

A path planning technique for fixed-base robot manipulators consists of a Mapping Phase and a Path Planning Phase. The Mapping Phase employs a closed-form relationship to map from object space to C-Space for a manipulator with revolute joints. The Path Planning Phase consists of develop ing a potential field around each object in C-Space and using the resulting field to choose an appropriate path. To accom plish this, a trial path is chosen and then modified under the influence of the potential field. Considering the entire path greatly reduces the probability of becoming trapped in a local minimum, making the method effective for global planning.