Collision-free path planning for industrial robots

A collision-free path is a path which the robot can physically take while traveling from one location to another in an environment containing obstacles. The environment is modified by the inclusion of pseudo-obstacles which are generated by real obstacles´ edges and faces; this process allows the robot itself to be represented by a point specifying its tip´s location in space. An algorithm for determining the shortest distance collision-free path given a sequence of edges to be traversed has been developed for the case of stationary obstacles.