Motion planning of redundant robots

Motion planning of robot manipulators is one of the most challenging problems encountered in the field of robotics. This article concentrates on those problems that require geometrical singularity and task priority. An alternative to the conventional approach is proposed, using a forward kinematics and optimization technique. The solution can be obtained corresponding to the design objective using an optimization procedure. The robustness of the proposed method to geometrical singularity is demonstrated. The concept of the permissible region is proposed for the motion planning problem with obstacle avoidance. Illustrated examples are also given.