Planning of an optimal collision-free trajectory subject to control constraints

In the paper, a global method of redundancy resolution is used to solve the task of the manipulator in a case when the path of the end-effector is a parameterized curve and the manipulator works in a workspace with obstacles. A final time of the task performance is not fixed. Additionally, the dynamic of the manipulator is taken into consideration. The constraints imposed on the controls which are attached to the servomotors of particular components are considered. The methods for the non-redundant or redundant manipulators when the generalized coordinates of the manipulator are the given functions of the path length. It is the essential limitation in the practical application of these methods. The presented solution is devoid of defects, and the investigated computer simulations confirm its effectiveness