Path Planning Algorithm Among Obstacles by Considering a Manipulability Index
In this paper a path planning algorithm for robots in industrial applications is presented. The algorithm is based on the authors’ previous works, which have been improved by introducing the Manipulability index to calculate the configurations, and in addition the work environment model has also been upgraded. From two given configurations — the initial and final ones — a configuration space is obtained. The robot configurations are expressed in terms of fully Cartesian co-ordinates and are obtained by solving nonlinear optimisation problems between adjacent configurations. A variety of constraints are considered 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 final ones.
KeywordsPath Planning Configuration Space Industrial Robot Significant Point Final Configuration
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