The optimal path of robot end effector based on hierarchical clustering and Bézier curve with three shape parameters

Abstract Recent improvements in robotic arms have increased their interest many areas such as the industry and biomedical sectors. Path planning is an essential part of arm, since most automated factories seek to move things from one place another with obstacles providing shortest route. This paper presents a novel optimal path algorithm based on 3D cubic Bézier curve three shape parameters its geometric properties hierarchical clustering. The proposed method utilizes feature vector which obtained curvature, torsion, length candidate curves. A clustering applied determine pairs. Then, multi-objective function used best pair, gives for arm. Besides forming path, ruled developable surfaces are obtained. In addition presenting theoretical results, this work also demonstrates several Kinova Gen3 arm cases.