Dynamic Path Planning for a 7-DOF Robot Arm

  title={Dynamic Path Planning for a 7-DOF Robot Arm},
  author={Stefan Klanke and Dmitry V. Lebedev and Robert Haschke and Jochen J. Steil and Helge J. Ritter},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
We present an on-line, robust, and efficient path planner for the redundant Mitsubishi PA-10 arm with 7 degrees of freedom (DOF) in non-stationary environments. Because of the specific kinematic model of the arm, path planning can be first reduced to a redundant 6-DOF problem in a 5D configuration space, which can be further decomposed into two problems: (i… CONTINUE READING