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Motion Planning for Redundant Articulated Robots Based on Geometrical Properties of the Whole Robot Body in Initial and Goal Configuration

This paper discusses motion planning techniques for redundant articulated robots. Motion planning in this paper means to generate joint trajectories that can avoid obstacles. In the proposed motion planning method, candidate waypoints are generated from the overall shape of the initial and goal conﬁgurations. All procedures of the proposed method are constructed only by computing inverse kinematics, and it does not require path planning in joint space. The eﬀectiveness of the proposed method is veriﬁed through performance evaluation test using a 7-DOF manipulator. In the performance evaluation test, not only the trajectory length and calculation time, but also the risk of collision with obstacles that are not considered in the simulator are evaluated.