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Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publicationAdvances in Service and Industrial Robotics
Subtitle of host publicationProceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
EditorsCarlo Ferraresi, Giuseppe Quaglia
PublisherSpringer International Publishing
Number of pages9
ISBN (Print)978-3-319-61276-8
Publication statusPublished - 21 Jun 2017
Publication typeA4 Article in a conference publication
EventInternational Conference on Robotics in Alpe-Adria Danube Region -
Duration: 1 Jan 2000 → …

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


ConferenceInternational Conference on Robotics in Alpe-Adria Danube Region
Period1/01/00 → …


This paper presents a method to generate joint trajectories for a redundant manipulator. The control system of the manipulator determines the joint references so that the goal pose can be reached without any collisions, in real-time. The control system checks weather any part of the manipulator is at risk of colliding with itself or with any obstacles. If there is a risk of collision, then the collision server computes the exact points where the collision is about to happen and calculates the shortest distance between the colliding objects. The joint trajectories of the manipulator are modified so that collisions will be avoided while at the same time, the trajectory of the end-effector maintains its initial trajectory if possible. Experimental results are given for a 7 DOF redundant manipulator to demonstrate the capability of the collision avoidance control system.


  • Collision avoidance, Real-time control, Redundant, Robotic manipulator

Publication forum classification

Field of science, Statistics Finland