Abstrct-A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n -1-dimensional slices, recursively built up from one-dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles.
Lozano-Perez REF developed an algorithm to plan collision-free motions of serial manipulators.
A Simple Motion-Planning Algorithm for General Robot Manipulators
IEEE J. of
Computer Science Engineering