Path Planning Method for Six-DOF Vertical Articulated Robot Aimed at Shortening the Cycle Time of Picking Task

This paper addresses a path planning method aimed at shortening calculation time. The proposed method takes advantage of the absence of obstacles in the space occupied by the robot when the robot and obstacles do not collide. In order to shortening the calculation time, the proposed method repeatedly searches in a straight line toward the target position and escapes in the direction of the mentioned space. Therefore, when there are no obstacles, a straight path from the start position to the target position is generated in the task space. We demonstrate examples of path planning tasks and verify the validity of the proposed method by comparing the calculation time with conventional path planning methods.