Obstacle-free workspace based path planning for serial manipulator

Abstract

A path planning method based on an Obstacle-free workspace (abbreviated as OFW) is proposed for collision-free movements of multi-joint serial manipulators. Firstly, based on Monte Carlo and computer graphics, the planning path for a three revolute joints (3R) planar manipulator was created in the OFW. Secondly, the path of a spatial manipulator was obtained by taking advantage of the rapidly-exploring random tree (RRT) method within the workspace. Finally, the corresponding algorithms were described in the frame of mathematical set and the paths illustrated in a series of figures. Both the manipulators, the 3R planar and the spatial, were modeled by the D-H coordinates method in MATLAB Robotics Toolbox.