Collision Avoidance for a Multi-Joint Manipulator Based on Empty Space Analysis of the 3-D Real World
Tsutomu Hasegawa, Hiromu Onda, Toshihiro Matsui · Transactions of the Society of Instrument and Control Engineers · 1991
This paper describes an efficient method that finds collision-free paths for a multiple-degreeof-freedom manipulator with rotational joints and grasped object.The method first analyzes the structure of empty space in the 3-D workspace.Based on this space analysis, the path search is divided and a most promising direction for path search is determined in the 3-D workspace.Finally the path search is done systematically in the joint space in the direction equivalent to the promising direction.This method is applicable to various problems regardless of the number of degrees of freedom of the manipulator, its structure, and the presence of grasped object.