*Article* **An Efficient Stochastic Constrained Path Planner for Redundant Manipulators**

**Arturo Gil Aparicio <sup>1</sup> and Jaime Valls Miro 2,\***


**Abstract:** This brief proposes a novel stochastic method that exploits the particular kinematics of mechanisms with redundant actuation and a well-known manipulability measure to track the desired end-effector task-space motion in an efficient manner. Whilst closed-form optimal solutions to maximise manipulability along a desired trajectory have been proposed in the literature, the solvers become unfeasible in the presence of obstacles. A manageable alternative to functional motion planning is thus proposed that exploits the inherent characteristics of null-space configurations to construct a generic solution able to improve manipulability along a task-space trajectory in the presence of obstacles. The proposed Stochastic Constrained Optimization (SCO) solution remains close to optimal whilst exhibiting computational tractability, being an attractive proposition for implementation on real robots, as shown with results in challenging simulation scenarios, as well as with a real 7R Sawyer manipulator, during surface conditioning tasks.

**Keywords:** manipulator motion planning; manipulability; stochastic planner
