Comparison of different sample-based motion planning methods in redundant robotic manipulators

摘要

Abstract The main objective of a motion planning algorithm is to find a collision-free path in the workspace of a robotic manipulator in a point-to-point motion. Among the various motion planning methods available, sample-based motion planning algorithms are easy to use, quick and powerful in redundant robotic systems applications. In this study, different sampling-based motion planning algorithms are employed to select the most appropriate method for efficient collision-free motion planning. As a case study, finding a collision-free robotic displacement for welding a main pipe with other intersecting pipes and joints is considered. The robotic manipulator employed in this study has seven degrees of freedom, where six degrees are related to the manipulator joints and one degree is related to its base linear movement suspended from ceiling. Five criteria, time, path length, path time, path smoothness and process time are used to evaluate the efficiency of different sample-based motion planning algorithms. Finally, a smaller set of more efficient algorithms are introduced based on the defined efficiency evaluation criteria.