PATH PLANNING FOR ROBOTIC MANIPULATORS WITH REDUNDANT DEGREES OF FREEDOM

This paper addresses the problem of path planning for robotic manipulators with redundant and nonredundant degrees of freedom. It is assumed that the motors for each joint are capable of achieving the commanded velocity within limits. Thus the dynamic model is simplified and the main complexity is that of the kinematic relationships. Of primary interest is the problem of moving the end effector from point A to point B in an efficient manner, possibly in the presence of obstacles. A suboptimal solution is proposed and discussed. Examples are presented that compare the performance of the redundant and the nonredundant manipulators.