PRM Based Motion Planning for Sequencing of Remote Laser Processing Tasks

The mechanical system used for remote laser processing can contain as much as 9 degrees of freedom (DOF). In this paper, a sample based motion planning algorithm for such remote laser processing equipment is presented. By construction robot configurations through a sampling strategy redundancy is inherently taken into account and the path is ensured to comply with laser processing constraints. A test showed that the algorithm was capable of finding 1277/1280 possible paths in 2000 iterations for a 9 DOF mechanical system. These 1277 paths were represented in matrix form which can be used for sequencing of laser processing tasks.