Redundancy Resolution in Multiple Feasibility Maps via MultiFM-RRT

Marc Fabregat-Jaén, Adrián Peidró, María Flores, Luis Payá, Luis Payá, Óscar Reinoso, Óscar Reinoso

2025

Abstract

This paper presents MultiFM-RRT, a novel algorithm for redundancy resolution in kinematically redundant manipulators based on the exploration of multiple Feasibility Maps (FMs). They encode all valid configurations of redundant variables for a prescribed task trajectory, enabling global optimization and constraint satisfaction. Unlike traditional velocity-based methods, which are limited to local solutions, and grid-based methods, which are computationally intensive, MultiFM-RRT leverages the Rapidly-exploring Random Tree (RRT) framework to efficiently explore the space of feasible solutions across multiple feasibility maps. The algorithm incorporates singularity maps to enable transitions between different aspects, ensuring comprehensive coverage of the solution space. By computing feasibility maps online and guiding exploration with probabilistic sampling of goal and singularity sets, MultiFM-RRT achieves a balance between computational efficiency and global optimality. The proposed approach is demonstrated on a Stewart parallel platform, illustrating its ability to generate feasible, constraint-satisfying trajectories while efficiently handling redundancy.

Paper Citation

in Harvard Style

Fabregat-Jaén M., Peidró A., Flores M., Payá L. and Reinoso Ó. (2025). Redundancy Resolution in Multiple Feasibility Maps via MultiFM-RRT. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 158-165. DOI: 10.5220/0013835700003982

in Bibtex Style

@conference{icinco25,
author={Marc Fabregat-Jaén and Adrián Peidró and María Flores and Luis Payá and Óscar Reinoso},
title={Redundancy Resolution in Multiple Feasibility Maps via MultiFM-RRT},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={158-165},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013835700003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Redundancy Resolution in Multiple Feasibility Maps via MultiFM-RRT
SN - 978-989-758-770-2
AU - Fabregat-Jaén M.
AU - Peidró A.
AU - Flores M.
AU - Payá L.
AU - Reinoso Ó.
PY - 2025
SP - 158
EP - 165
DO - 10.5220/0013835700003982
PB - SciTePress