Eliminating redundancy and singularity in robot path planning based on masking

Path tracking in industrial robotics studies has been widely studied by researchers. In this paper, a new method for planning the path is proposed. Squares which called mask are used to build the path based on the desired path. Petri net modeling is used to coordinate joints movement. The size of squares is the same and presets. The robot moves along the diagonal. To track the path correctly the size of the mask has to be set based on variation of the path. The best square size is achieved if there is no more than on path in each mask. The big advantage of this method is eliminating the redundancy and singularity. All joint in a mask are moving and stopping simultaneously. This method guarantee the fast moving as the path is inside the pre build mask and the robot moving is simultaneous with path planning. This is other advantage of this method. The third advantage of this method is eliminating the backlash of actuators. Reducing the inverse kinematic calculations is the last advantage of the method.