Dynamic path planning for a planar articulated robot arm moving amidst unknown obstacles (Q1094158)

The problem of dynamical (on line) path generation for a robot arm operating in an environment with unknown obstacles is considered, assuming the current position is known and the links of the arm are capable of sensing the obstacles. An attempt is made to state the problem in a formal way and to obtain an exact solution - i.e. either find a free way reaching the target of conclude about the target's unreachability. A simple example of an unredundant, two link, plannar, articulated manipulator is discussed throughout the paper.