COLLISION-FREE PATH PLANNING FOR A MULTI-JOINT ROBOTIC ARM BASED ON TOPOLOGICAL METHOD
基于拓扑法的多关节机械手无碰路径规划

In this paper,a collision-free path planning for a multi-joint robotic arm based on topological method is presented. The problems of how to partition the Configuration Space,how to judge the connectivity between connected blocks and how to search for a path are mainly discussed,finally an experimental result is given to show the feasibility of the planning method.