A path planning algorithm for multi manipulators

This paper discusses an approach to the development of a path planning algorithm for cooperating multi manipulators. In the approach, multiple manipulators are considered as a single composite one. Therefore, the composite manipulator possesses all arms of the manipulators included in the collaboration. A newly developed path planning algorithm BFA (backtrack free path planning algorithm) enables the efficient generation of paths of this composite manipulator with extremely many arms. The algorithm is backtrack free and resolution complete. Computation volume of the algorithm is proportional to the total number of arms included in the composite manipulator. An additional advantage of this approach is that paths of individual manipulators can be calculated completely in parallel.