Design and evaluation environment for collision-free motion planning of cooperating redundant robots

Abstract

This paper deals with path planning methods suitable for use with closely cooperating kinematically redundant robots (primarily open-chain rigid-link manipulators) avoiding collision with segments and obstacles. A Matlab-based environment has been set up for designing such methods and evaluating already existing ones. Within this framework, several of the commonly used distance or intrusion criteria and corresponding path optimization methods have been examined for efficiency and reliability. Finally, proposals for further improvement of the methods are given.