A Topological Implementation for Motion Planning of a Robotic Arm

An efficient path planning algorithm based on topologic method is presented in this paper.The colli- sion free path planning for three-joint robotic arm consists of three parts:partition of C-space,construc- tion of CN and search for a path in CN.We mainly solved the problems of partitioning the C-space and judging the connectivity between connected blocks,etc.For the motion planning of a robotic arm with a gripper,we developed the concepts of global planning and local planning,and discussed the basic fac- …