Abstract
A new approach is proposed in this paper for the motion planning of redundant manipulators in cluttered environments to accomplish specified trajectory tasks. The method is based on the use of feasibility maps, which identifies all the joint trajectories allowing the manipulator’s end-effector to travel through the desired path. The procedure synthesizes a set of joint trajectories satisfying the feasibility conditions, even if singular configurations are necessary to achieve the task. The effectiveness of the method is illustrated in the motion planning of a planar 3-degree-of-freedom (dof) manipulator.
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