Point-to-point Motion Planning with Obstacle Avoidance for Hard Constrained Redundant Robotic Manipulators

The redundant robots have more degrees of freedom than the required for the assigned task. For point-to-point motion redundant robots might pass through singularities. This is due to their hard joint constraints or due to obstacles within the workspace. The goal of this paper is to propose an approach based on graph theory for point-to-point motion planning which considers static obstacles placed within the workspace of hard constrained redundant robot. The applicability of the approach is validated through real experiments.