Romansy 13 pp 431-438 | Cite as

Path Planning in Complex Environments for Industrial Robots with Additional Degrees of Freedom

  • Francisco Valero
  • Vicente Mata
  • Marco Ceccarelli
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


In this paper a path planning among obstacles is presented as applied to a robot of PUMA 560 type with mobile base. From two given configurations — the initial and goal ones — a configuration space is calculated. The robot configurations are expressed in terms of fully Cartesian co-ordinates and are obtained by solving non-linear optimisation problems between adjacent configurations, a variety of constrains is considered in order to take into account different real operation problems. The path is selected from a weighted graph associated to the map of feasible robot configurations. A search algorithm has been used to minimise an objective function in order to obtain a sequence of robot configurations between the initial and goal ones.


Path Planning Configuration Space Obstacle Avoidance Industrial Robot Significant Point 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Francisco Valero
    • 1
  • Vicente Mata
    • 1
  • Marco Ceccarelli
    • 2
  1. 1.Department of Mechanical EngineeringUniversidad Politécnica de ValenciaSpain
  2. 2.Dipartimento di Meccanica, Strutture, Ambiente e TerritorioUniversità di CassinoItaly

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