Continuous path planning via a non-inverting parallel algorithm

Abstract

SUMMARY The problem of path tracking in robotic manipulators applications is studied in this paper. The path is generated as a sequence of elementary motions. The characteristic feature of our algorithm is that it avoids singularities, because there is no need to use inverse kinematics. Direction and proximity criteria are introduced. The application of parallel processing methods to path tracking according to the previous algorithm is presented. The algorithm is implemented in the Alliant FX/80 parallel machine.