Robot manipulator path planning

Abstract

A practical solution to the path planning problem for a six degree-of-freedom manipulator robot with arbitrary payload is described. The three phases of operation are explained. Phase one involves planning for the first three joints in a configuration space model using a distance transform. A real space model and heuristics are then used for the orientation planning of the wrist, gripper and payload. The execution of the path is monitored with sensor panels covering the robot so that safe adjustments to the path can be made if necessary.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>