Collision-free Path Planning for Articulated Robots
نویسندگان
چکیده
The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for articulated robots. First, the configuration of a robot is designed using a set of robot joint angles derived from robot inverse kinematics. The joint space, which is made of a joint angle set, forms a Configuration space (Cspace). Obstacles in a robot work-cell are transformed into Cobstacles (obstacles Configuration) using the slice projection method. Second, a connected graph, or robot roadmap, is constructed using randomly selected free configurations from the free Cspace, which is immune from the collisions. Third, robot paths are optimally determined in the connected graph. A path searching algorithm based on A* is employed in creating the paths. Finally, the whole procedure for the CFPP method is shown for a proper articulated robot as an illustrative example.
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