Collision-Free Trajectory Planning for Manipulator Using Potential Function

Xiang Dong Yang, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


This paper proposes a method for planning the collision-free trajectory for a manipulator. In this method, geometrical constraints to avoid obstacles are represented by constraint potential functions. The dynamical equation of the manipulator is expressed by a path parameter ‘s’ which does not depend on time and is solved as a two-point boundary value problem. Input torques giving a desired trajectory are composed of two parts. One is for a shortening of the travelling time, and the other is for an avoidance of the collision by a potential function. Finally, the proposed method is applied to a manipulator with three links.

Original languageEnglish
Pages (from-to)2345-2350
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Issue number575
Publication statusPublished - 1994

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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