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A simple motion-planning algorithm for general robot manipulators

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1 Author(s)
T. Lozano-Perez ; Massachusetts Institute of Technology, Cambridge, MA, USA

A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1- dimensional slices, recursively built up from one-dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles.

Published in:

IEEE Journal on Robotics and Automation  (Volume:3 ,  Issue: 3 )