A correlation between the state‐space and the task‐oriented path in the presence of obstacles for mechanical manipulators

Abstract

Abstract This article proposes workspace analysis for redundant robot manipulators in the presence of obstacles. The analysis, based on a 3R planar robot and disk‐shaped obstacles, is considered in detail and a computer program is developed for the calculation of the collision‐free region of redundant robots. The research focuses on the state space of the robot with its end‐effector forced to follow a linear path, with particular consideration of the effects of the link geometries and the location of the obstacles. © 1994 John Wiley & Sons, Inc.