A novel collision avoidance algorithm is proposed to solve the path-planning problem of a
high DOF robot manipulators in 3-D workspace. The algorithm is based on a generalized
potential field model of 3-D workspace. The approach computes, similar to that done in
electrostatics, repulsive force and torque between manipulator and obstacles using the
workspace information directly. Using these force and torque, a collision-free path of a
manipulator can be obtained by locally adjusting the manipulator configuration for minimum …

In this paper, a potential‐based path‐planning algorithm for a high DOF robot manipulator is
proposed. Unlike some c‐space‐based approaches, which often require expensive
preprocessing for the construction of the c‐space, the proposed approach uses the
workspace information directly. The approach computes, similar to that done in
electrostatics, repulsive force and torque between objects in the workspace. A collision‐free
path of a manipulator will then be obtained by locally adjusting the manipulator configuration …