Specialized PRM Trajectory Planning for Hyper-Redundant Robot Manipulators
Mahdi F. Ghajari, René V. Mayorga · WSEAS TRANSACTIONS on SYSTEMS archive · 2017
This Paper presents a general comprehensive computationally tractable collision free path planner for hyper-redundant manipulators multiple-query. The path planner is based on a sampling approach for obstacle avoidance and 2D trajectory planning for N-DOF robotic arms. The quality of created roadmap depends on the initializing parameters such as density as well as resolutions of occupancy grid and tip distribution grid. The motion planner has been developed for all types of manipulators, different joint types and handling various cost functions. Various scenarios have been successfully simulated for manipulators with different degrees of freedom and different types of obstacles with any given start and goal configurations. The simulation results indicate that the collision free motions in highly-constrained environments can be computed in less than a minute.