Collision-Based Motion Planning for Redundant Robot

Based on collision detection algorithm, a motion planning method for globally solving for the point-to-point inverse kinematics of robotic manipulators with high redundancy is developed. It can capture the connectivity of the connected components of the free configuration space from initial configuration to the objective configuration for the manipulators with constrains due to the joint limits, self-collision and obstacles in the environment. The efficiency and the practical value of the method is illustrated.