Abstract
This paper presents a simple, effective and robust geometrical approach for path-planning of redundant/hyper-redundant manipulators in real-time within confined spaces cluttered with obstacles. A discretized path for point robots to the goal gives all the information for navigation of the manipulator. As long as it is physically possible, the employment of maneuvering space is maximized by making the links almost pinch the walls of the convoluted terrain. The maneuvering ability of the method fully utilizing maneuvering space is far beyond those of others proposed in the literature. The exemplary computer simulations verify the effectiveness of the method.
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