Path planning and obstacle avoidance approaches for robot arm

摘要

In this paper, a new obstacle avoidance method based on Non Uniform Rational B-splines (NURBS) is proposed for a robot arm. A safe distance between the end-effector of robot arm and obstacle is considered to avoid the collision. A safety formula for the weights of NURBS is proposed so that the proposed method is able to generate a safer path. Some simulation results are presented to illustrate the effectivity of the proposed method.