여유 자유도를 갖는 Robot Manipulator 최적 충돌 회피 경로 계획에 관한 연구

Optimal Collision-Free Path Planning of Redundant Robotic Manipulators

A Potential Field Method is applied to the proposed algorithm for the planning of collision-free paths of redundant manipulators. The planning is carried out on the base of kinematic configuration. To make repulsive potentials, sources are distributed on the boundaries of obstacles. To escape from local minimum of the main potential and to attack other difficulties of the planning, various potentials are defined simultaneously, Inverse Kinematics Problems of the redundant manipulators are solved by unconstrained optimization method. Computer simulation result of the path planning is presented.