Path planning using potential fields for highly redundant manipulators

Several aspects of the path planning problem for highly redundant manipulators are dealt with in this paper. A new method is presented for the path planning. The basic idea is to find a smooth path consisting of points close enough to each other using harmonic potential fields, and then to keep the tip of each link on these path points until the manipulator reaches the goal. The concept of master link is introduced and applied to three path planning algorithms for the smooth motion of the manipulator. A reversing procedure is included to take the manipulator to its initial position. Besides, software developed in C++ for Windows platforms is introduced. The main features of the software are to draw obstacles and manipulators on the screen, to obtain two- and three-dimensional images of potential fields and implement path planning algorithms.