Motion Planning and Dynamic Control of a Linked Manipulator using Modified Magnetic Fields

A modified magnetic field (MMF) has been used for the generation of robot motion plans of a linked manipulator such as a robot arm, in a complex workspace while veering around enclosing obstacle walls. The MMF method ensures global convergence and collision constraint satisfaction while allowing the application of this method as an online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF to perform both the planning and dynamic control of a robot arm around obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration.