Path modification in the existence of obstacles based on task requirements

An efficient approach is proposed to the design of a kinematically feasible path in the presence of obstacles, based on task requirements. First, a path is planned by specifying both position and orientation for each point along the path. Then, suitable expressions are derived to describe the relationship between the planned path and the robot workspace. With the geometric information from these expressions and the modification strategies based on different task requirements, the infeasible portions due to the kinematic constraints and obstacles are detected and modified accordingly. A six revolute joint robot manipulator and a sphere obstacle are selected as the case study. The results are further extended to general types of industrial robot manipulators