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Described here is a simple, reliable, and quite general method for rapidcomputation of robot arm inverse kinematic solutions and motion path plans inthe presence of complex obstructions. The method derived from the MSC(map-seeking circuit) algorithm, optimized to exploit the characteristics ofpractical arm configurations. The representation naturally incorporates botharm and obstacle geometries. The consequent performance on modern hardware issuitable for applications requiring real-time response, including smoothcontinuous avoidance of dynamic obstacles which impinge on the planned pathduring the traversal of the arm. On high-end GPGPU hardware computation of bothfinal pose for an 8 DOF arm and a smooth obstacle-avoiding motion path to thatpose takes approximately 200-300msec depending on the number of waypointsimplemented. The mathematics of the method is accessible to high schoolseniors, making it suitable for broad instruction. [Note: This revisionincludes a general compute strategy for paths from arbitrary pose to arbitrarypose and a compute strategy for continuous motion mid-course avoidance ofdynamic obstacles.]

Fast Robot Arm Inverse Kinematics and Path Planning Under Complex Static and Dynamic Obstacle Constraints