A mathematical approach to motion planning for time-varying obstacle avoidance

시변 장애물 회피 동작 계획을 위한 수학적 접근 방법

A robot manipulator and an obstacle are described mathematically in joint space, with the mathematical representation for the collision between the robot manipulator and the obstacle. Using these descriptions, the robot motion planning problem is formulated which can be used to avoide a time varying obstacle. To solve the problem, the constraints on motion planning are discretized in joint space. An analytical method is proposed for planning the motion in joint space from a given starting point to the goal point. It is found that solving the inverse kinematics problem is not necessary to get the control input to the joint motion controller for collision avoidance.