This paper deals with the problem of planning a collision-free path for a 3 link, revolute robot among fixed obstacles within its work environment. Both the payload and the robot links are checked for collisions with the obstacles. All path planning is performed in joint or configuration space. The first part of the paper is concerned with the visualization of the complex shape of the obstacles as they appear in joint space. The second part of the paper describes and presents results of a simple path planning algorithm.

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