Path planning includes three tasks: 1–Defining a geometric curve for the end-effector between two points. 2–Defining a rotational motion between two orientations. 3–Defining a time function for variation of a coordinate between two given values. All of these three definitions are called path planning. Figure 13.1 illustrates a path of the tip point of a 2R manipulator between points P1 and P2 to avoid two obstacles.
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