An approach for robot dynamic motion planning with control torques and obstacles constraints

There is no known general solution to the robot dynamic motion problem. The authors present a partial solution by considering the problem of moving the end-effector in minimum time subject to input torque constraints and meanwhile avoiding stationary obstacles. It is assumed that the robots are SCARA-type manipulators. First an ideal geometric path consisting of several line segments in the Cartesian work space is found. Second, a minimum time collision-free dynamic motion neighboring the ideal geometric path is determined. Finally, a numerical example of a two-link manipulator moving in the horizontal plane filled with polyhedral obstacles is presented