Abstract This paper presents a simple, effective and robust geometrical approach for path-planning of redundant/hyper-redundant manipulators in real-time within confined spaces cluttered with obstacles. A discretized path for point robots to the goal gives all the information for navigation of the manipulator. As long as it is physically possible, the employment of maneuvering space is maximized by making the links almost pinch the walls of the convoluted terrain. The maneuvering ability of the method fully utilizing maneuvering space is far beyond those of others proposed in the literature. The exemplary computer simulations verify the effectiveness of the method.

中文翻译：

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一种具有极强机动能力的超冗余机械手实时路径规划算法

摘要 本文提出了一种简单、有效和稳健的几何方法，用于在障碍物杂乱的密闭空间内实时规划冗余/超冗余机械手的路径。点机器人到目标的离散路径提供了操纵器导航的所有信息。只要物理上可能，通过使连杆几乎夹住复杂地形的墙壁，可以最大限度地利用机动空间。该方法充分利用机动空间的机动能力远远超过文献中提出的其他方法。示例性计算机模拟验证了该方法的有效性。