Collision free path planning for robots with prismatic joints

Collision free path planning for a robot involves in travelling from one location to another in an obstacle-laden environment without the occurrence of unwanted collisions. Modeling the workspace assumes paramount importance in obstacle avoidance because interference detection can be handled very efficiently by proper choice of geometric modeling techniques. In this paper, we propose an unique path planning strategy whereby two dimensional geometric modeling can be applied effectively to represent three dimensional robot workspace when we use robots with prismatic joints