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
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 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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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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