The planning of suboptimal collision-free robotic motions

摘要

A method of planning sub-optimal collision-free motion for redundant manipulators is presented. It is based on using a penalty function approach and scaling the robot dynamic equation to satisfy actuator constraints. The proposed method allows real time computations. A computer example involving a planar redundant manipulator of three revolute kinematics pairs which operates in a work space with obstacles, is also presented.