Robot path planning in a constrained workspace by using optimal control techniques (Q926510)

This paper presents a new methodology to perform the optimal path planning of robot manipulators in the presence of moving obstacles. The performed computations indicate that the existence of obstacles in the workspace increases the total mechanical power needed to achieve obstacle avoidance conditions, as compared with the trajectory obtained for the obstacle-free workspace case. Numerical simulations illustrate that the present techniques can be useful for the design of robot controllers.