Abstract
This paper discusses a method to find a collision-free path of industrial robot manipulators in a known environment where collision detection between manipulators and obstacles is necessary. The configuration of robot manipulators is represented based on the concept of configuration space(C-space) whose coordinates correspond to degrees of freedom of manipulators. Geometric criteria of collision between manipulators and obstacles are formulated and estimated in each region of segmented C-space by using interval analysis. Based on this estimation, the shortest path from given starting point to end point in C-space is obtained by Diikstra algorithm through the series only of the feasible regions where it is guaranteed that manipulators do not collide with obstacles.
