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In this paper, a motion-planning scheme that enables manipulators to avoid structural damage is described. By using this scheme, manipulators are encouraged to protect themselves from structural damage by searching for a safer attitude when their structural risk becomes high during their given tasks. The structural risk is determined by using two parameters, the resultant forces and total strain energy stored in the architecture, which are calculated by the finite element method. Some numerical tests are carried out and the proposed strategy is implemented into the interface of a robotic arm to verify its validity. The experimental results revealed the practicability of the scheme in avoiding structural damage during the given tasks.

2P1-D32 Motion Planning of Robotic Arms with Structural Safety as Priority