Abstract
A Generalized Pattern Search algorithm (GPS) is introduced to design a collision-free trajectory for planar redundant manipulators. Cubic-spline interpolation trajectory for the end-effector is designed a priori by selecting three intermediate points around the workspace obstacles. The GPS algorithm ensures that none of the selected points lies inside any of the obstacles. The end-effector will follow the prescribed trajectory in excellent manner without colliding with the obstacles. Simulation studies are carried out for three different obstacles to prove the validity of the proposed algorithm.
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