Reactive 3D Motion Planning for a Franka Arm via Star-World Workspace Reshaping
This paper investigates reactive 3D control of a Franka Emika Panda manipulator using Star-World workspace reshaping. Intersecting inflated obstacles are clustered and replaced by star-shaped proxies before a dynamical-system-based end-effector controller is evaluated. In six PyBullet scenarios, reshaping reaches the goal in five of six scenarios, compared with four of six for the unreshaped baseline. It resolves the overlapping-wall case and requires 0.68–8.70 ms per workspace update. However, it increases path length, produces near-equilibria in two cases, and closes a navigable corridor due to over-aggressive merging. The results show both promise and limitations of transferring Star-World guarantees to a redundant manipulator controlled via inverse kinematics.
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[Submitted on 27 Jul 2026]
Title:Reactive 3D Motion Planning for a Franka Arm via Star-World Workspace Reshaping
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Abstract:Safety inflation can cause nearby obstacles to overlap, violating the disjoint-obstacle assumptions used by many modulation-based reactive planners. We investigate Star-World workspace reshaping for three-dimensional reactive control of a Franka Emika Panda manipulator. At each update, intersecting inflated obstacles are clustered and replaced by star-shaped proxies before a dynamical-system-based end-effector controller is evaluated. A null-space artificial-potential-field term provides complementary arm-body avoidance. We compare reshaped and unreshaped obstacle representations in six PyBullet scenarios using goal attainment, path-length ratio, and computation time. In this preliminary 12-trial evaluation, reshaping reaches the goal in five of six scenarios, compared with four of six for the unreshaped baseline. It resolves the canonical overlapping-wall case and requires 0.68--8.70\,ms per workspace update for scenes containing one to seven obstacles. However, it also increases path length, produces near-equilibria in two cases, and closes a navigable corridor through over-aggressive merging. These results show both the promise and the practical limitations of transferring Star-World guarantees from workspace geometry to a redundant manipulator controlled through inverse kinematics.
Subjects:
Robotics (cs.RO); Optimization and Control (math.OC)
Cite as: arXiv:2607.25138 [cs.RO]
(or arXiv:2607.25138v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.25138
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Saayuj Deshpande [view email] [v1] Mon, 27 Jul 2026 23:12:32 UTC (841 KB)
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