A practical system for planning safe trajectoriesfor manipulator

This paper deals with the problem of planning safe trajectories for a manipulator robot moving in an environment including both static obstacles and objects (other robots, conveyors ...) whose positions may change during the interval of time separating two planning steps. In order to solve this problem for a general manipulator having six degrees of freedom, we have developed and implemented a method combining two diierent path planners: a local planner whose purpose is to take the manipulator away from the constrained initial and nal conngurations, and a global planner which is in charge of generating a safe trajectory for the rst three degrees of freedom of the arm. Both the local and the global planners are based on a fast iterative algorithm for computing the distance between pairs of objects. These planners have been implemented within a robot programming system including a solid modeler dedicated to robotics applications and a connection to a robot controller.