Motion Planning of a Planar 3R Manipulator Utilising Fluid Flow Trajectory Generation

A novel approach to perform motion planning on 2 or 3 degrees-of-freedom manipulators utilising a fluid motion planning model is proposed. It is demonstrated that through the introduction of transformations, the conventional trajectory planning problem in the configuration space (C-space) can be efficiently solved from the closed form solution of the fluid motion planner. The proposed motion planner is designed to be computationally efficient for real-time implementation and dynamic environments. The manipulator fluid motion planner is demonstrated on a 3-DoF 3-revolute (3R) planar manipulator example. The results show the simplicity, effectiveness and potential of the proposed novel method in manipulator motion planning.