Planificación de trayectorias en robots redundantes con mapas de factibilidad y RRT
M. Fabregat-Jaen, A. Peidró, F.J. Soler, A. Gil, O. Reinoso
XLIV Jornadas de Automatica,   (Zaragoza, 6-8 Septiembre, 2023)
Ed. CEA  ISBN:978-84-9749-860-9  DOI:  - pp. 581-586


Redundant manipulators offer multiple advantages, such as improved manipulability, or evasion of singularities and obstacles.

However, kinematic redundancy also introduces additional difficulties, such as the need to solve an underdetermined inverse kinematics

problem. This article presents a novel method for motion planning of redundant manipulators, based on the exploration

of feasibility maps. The proposed method is an extension of the Rapidly-exploring Random Trees (RRT) algorithm, modified to

explore the redundant task space with the purpose of finding a feasible suboptimal path in the joint space, sacrificing optimality for

scalability to a higher number of degrees of redundancy. The method is capable of following a given trajectory in the task space,

while considering other constraints, such as obstacle avoidance or joint limits. The method has been validated under simulation.