One possible usage of highly redundant robot manipulators – arms with several degrees
of freedom (DOF) – is to achieve hidden target. Solving inverse kinematic of 6 DOF
robots in 3D space is well researched, several methods are available for motion planning.
This paper presents three motion planning methods in configuration space (C-space):
the Probabilistic Roadmap Method (PRM), the Single-Query Bi-Directional Probabilistic
Roadmap Planner with Lazy Collision Checking (SBL). Using these two methods the rough
path could be planned. Augmented Langrangian Method (ALM) refines end effector position
after coarse path planning.