Motion Planning for 6 DOF Robot Arm Based on Maze-searching

摘要

In this paper, we propose a fast motion planning method for 6 DOF manipulator based on a maze-searching algorithm. Proposed method is utilizing the CPFS (Closest Point First Search) algorithm similar to the Bug2 algorithm proposed by Lumelsky. We have modified CPFS algorithm with FAP (Footprint Avoidance Procedure) in order to guarantee that the planning does not fall into the deadlock situation. At the beginning of the planning, the initial configuration of 6 DOF robot moves straight toward goal configuration . When the path meets collision configuration, the path is generated along the boundary between free- and collision-configuration. Using computer simulation, we evaluate the proposed method with calculation time. As a result, the proposed method can generate a path with 10 times shorter than the RRT method.