Motion planning of redundant robots

Chieh-Li Chen, Chih Jer Lin

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


Motion planning of robot manipulators is one of the most challenging problems encountered in the field of robotics. This article concentrates on those problems that require geometrical singularity and task priority. An alternative to the conventional approach is proposed, using a forward kinematics and optimization technique. The solution can be obtained corresponding to the design objective using an optimization procedure. The robustness of the proposed method to geometrical singularity is demonstrated. The concept of the permissible region is proposed for the motion planning problem with obstacle avoidance. Illustrated examples are also given.

Original languageEnglish
Pages (from-to)839-850
Number of pages12
JournalJournal of Robotic Systems
Issue number12
Publication statusPublished - 1997 Jan 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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