Smooth path planning for redundant robots on collision avoidance

  • Henrique SimasEmail author
  • Daniel Martins
  • Raffaele Di Gregorio
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents a new algorithm for programming secondary tasks for redundant robots under and out of the collision imminence. For the collision avoidance, the new algorithm uses the concept of Assur virtual chains, together with interpolations based on cubic Bézier polynomials, taking advantage of its properties in terms of continuities, for smoothing the transitions between tasks. Out of collision condition, the redundancy is addressed by the method of Adaptive Extended Jacobian. This set of strategies, acting together, results in a stable algorithm and in smooth trajectory profiles for redundant robots avoiding collisions. An application using a redundant P3R-planar robot is developed, and graphical comparative analyzes are presented.


Redundant robots Collision avoidance Smooth transitions Adaptive extended Jacobian 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Federal University of Santa CatarinaFlorianópolisBrazil
  2. 2.University of FerraraFerraraItaly

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