Abstract
This paper proposes a path-planning algorithm for multi-arm manipulators that calculates paths by searching grid points in Euclidean space directly instead of configuration space. The algorithm is back track free and resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical time even for manipulators with many arms, and it becomes possible to apply it to manipulators that operate in complicated and fully automated environments. Effectiveness of the algorithm is evaluated by applying a preliminary prototype to path-planning in 2-dimensional space.
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