Adaptive Manipulability-Based Path Planning Strategy for Industrial Robot Manipulators

this article, a novel manipulability-based optimal rapidly exploring random tree (RRT*) path plan-ning strategy is proposed for industrial robot manipula-tors. When sampling in the search space, two constraints, namely, path length and manipulability measure, are im -posed to find a minimal-cost path connecting the start and goal points. By tracking the generated path, a robot manipulator's end-effector can traverse the workspace with a shorter length and, meanwhile, avoid configuration singularities. A constrained closed-loop inverse kinematics technique is utilized to exploit the kinematic redundancy to assign a higher manipulability to an end-effector position. Additionally, the metrics of path length and manipulability measure are used to determine the adaptive step size for the RRT* planner. This helps the space-filling tree to grow efficiently toward unsearched areas and find an optimal path. Simulation analysis and experimental results of a six-degree-of-freedom FANUC-M-20iA industrial robot illustrate the efficiency of the proposed path planning methods.