A collision-free motion planning method for a redundant manipulator with a constrained task

A self-motion planning method for a redundant manipulator subject to the primary task constraint was proposed based on random generation of joint configurations and depth-first search.Exploiting the self-motion property of a redundant manipulator,a random configuration generation algorithm of a manipulator configuration was proposed for solving a set of joint configurations corresponding to a given end-effector pose and a depth-first search strategy was designed to find a collision-free configuration from the configuration set generated at random.By repeating the process for every pose from the initial to the end one in the task,a collision-free joint path can be obtained eventually.Taking a redundant manipulator of MOTOMAN VA1400 as an example,a simulation study was carried out.The result shows that the method presented is effective.