TaArm 4-DOF redundant planar serial robot.

Collision-Free Optimal Path Planning

TaArm 4-DOF redundant planar serial robot.

Collision-Free Optimal Path Planning

This project focuses on the optimal path planning of redundant planar serial robots, while avoiding obstacles within its workspace. A synergy-based algorithm between convex optimization, disjunctive programming and receding horizon is employed to the end of achieving advantages such as finding the global optimum solution and low computational time.

This algorithm can handle both static and dynamic obstacles due to its replanning scheme. It has been implemented on redundant serial robots, parallel robots, mobile robots and a group of mobile robots.

Simulation results of minimum time (left) and minimum path (right) optimal path planning with dynamic obstacles.

Simulation results of optimal path planning on thre Tripteron parallel robot.

Publications

In this paper, fault-tolerant control of redundant planar serial manipulators has been investigated experimentally via an offline …

In this paper, the problem of motion planning for parallel robots in the presence of static and dynamic obstacles has been …

This paper is focused on the optimal motion planning of redundant planar serial robots, by avoiding obstacles within its workspace. A …