Path Planning and Collision Avoidance for Redundant Manipulators in 3d
نویسنده
چکیده
We have developed a planner for redundant manipulators that is fast, eeective and versatile, based on the idea of treating each link of a rigid-linked robot as if it were slightly exible and under the innuenceof a potentialeld. We justify the method by exploringsome simple examples, and brieey describe the extensions to the basic method that allow it to plan paths for manipulators with revolute joints (linear and spherical joints having been covered in an earlier paper). We also outline the use of the method for manipulators with exible links and with a large number of degrees of freedom. The planner can either be used within an advanced tele-operated system, or as a path reenement stage of a practical planner that we propose, which includes a rule-based global planning stage.
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