A framework for the intelligent motion planning of robot manipulators

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Over the years research in robot manipulators has been increasing rapidly. This has led to the development of efficient conventional methodologies for simple industrial robot manipulators capable of performing simple tasks. However, there is already a great need in the Service, Industry, and Space, sectors for complex robotic systems (such as manipulators with many degrees of freedom, multi-manipulator systems, and/or robotic systems being re-configurable) that can perform complicated tasks. Furthermore, many of the developed conventional approaches turn out not to be entirely generic and their efficiency for complex robotic systems is not considered conclusive for on-line and truly real-time operations. Consequently, it is necessary to devote research efforts to the development of novel methodologies for complex robotic systems.