A practical collision-free motion planning method for a general underactuated robot was proposed.The objective was to use this technique to build fast motion planners for robots with 3 or more degree offreedoms. The partly stable controllers were introduced and the goal was realized by the switching of the partlystable controllers. The searching of the best switching sequence was obtained by way of genetic algorithm.Penalty method was utilized if there were obstacles in workspace and then the constrained optimizations tuna tobe unconstrained ones. Since the proposed method does not make any hypothesis about the degree of freedom,it can be used without modification for arms with a large number of degree of freedom. At last numericalsimulations were carded out on the planar 3R underactuated robot to verify the validity of the proposed method.
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