A framework for the intelligent motion planning of robot manipulators

多年来，对机器人操纵器的研究一直在迅速增加。这导致了能够执行简单任务的简单工业机器人机械手的高效传统方法的发展。然而，在服务、工业和空间领域，已经非常需要能够执行复杂任务的复杂机器人系统(例如具有多个自由度的机械手、多机械手系统和/或可重新配置的机器人系统)。此外，许多已开发的传统方法被证明不是完全通用的，它们对复杂机器人系统的效率对于在线和真正的实时操作并不是决定性的。因此，有必要致力于研究复杂机器人系统的新方法。

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.