Fast Path Planning For Robot Manipulators
Mahmoud Tarokh · 2005
Fast path planning is achieved by a special representation of the manipulator and the workspace. A method is devised to work directly with ann postures instead of dealing with individual joint positions. These two aspects, namely representation and posture control, greatly speed up the path finding procedure and make it possible to perform near real-time planning in a reason- ably complex environment. The path planner uses bit maps of the arm and obstacles, and a novel search algo- rithm determines the sequence of postures the arm must take to effect a collision free path. The path planner has been implemented and tested on a PUMA manipulator in a moderately cluttered environment.