Solution:

Gross motion planning:

An alternative to the configuration space approach to solving gross-motion path planning problem is to search the free space directly.

They are referred to as freeways. It typically generates path for the the mobile part that is away from the obstacles.

When the workspace is very sparsely populated with obstacles, this method is fast and effective.

The principal drawback is when the workspace is cluttered with closely spaced obstacles.

The freeway method of designing the gross motion path is known as the Generalized Voronoi Diagram.

It is used for obtaining an obstacle collision-free path in the workspace of the robot from the source to the goal.

A GVD in free space is defined as the locus of all points which are equidistant from two or more two obstacle boundaries.

The robot workspace consists of several obstacles. The parameters of any obstacles are edges and vertices. So, while constructing the GVD from S to G, four basic types of interactions occur.

Fine motion planning:

It is the type of motion planning technique when a mobile part or an object comes into physical contact with the surrounding environment of the robot.

Moving at a slow speed is also called fine motion planning.

It can be achieved by using impedance control technique, guarded motion, or complaint motion.

Guarded motion:

It is defined as moving an object or a part in a specified direction towards the goal surface until an event occurs.

The event is the generation of a reaction force by the surface.

Compliant motion:

The motion required after guarded motion to place the object in desired position and orientation is compliant motion.

There should be continuous physical contact with the environment. The coefficient of friction should be low.