Path planning in the presence of obstacles based on task requirements

A novel and efficient path planning scheme is proposed for designing a kinematically feasible path in the presence of obstacles based on task requirements. Geometrical analysis is used to derive geometric expressions describing the relationship between the robot workspace, obstacles, and the planned path. The freedom available according to task requirements is used to modify the infeasible portions of the planned path. To demonstrate the proposed scheme, a 6R (revolute) wrist-partitioned type of robot manipulator and a spherical obstacle are used as a case study. The results are then extended to general wrist-partitioned types of robot manipulators, and arbitrarily shaped or multiple obstacles. Simulations are performed to demonstrated the proposed schemes