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PurposeThe purpose of this paper is to solve the path‐planning problem of industrial robots in complex environments.Design/methodology/approachA direct method (in each step, the path is been recorded) is presented in which the search of the path is made in the state space of the robotic system, and it makes use of the information generated about the characteristics of the process, introducing graph techniques for branching. The method poses an optimization problem that aims at minimizing the distance travelled by the significant points of the robot.FindingsA new approach to solve the path‐planning problem has been introduced in which the behaviour of three operational parameters (computational time, distance travelled and number of configurations generated) have been analyzed so that the user can choose the most efficient algorithm depending on which parameter he is most interested in.Research limitations/implicationsA new technique has been introduced which yields good results as the examples show.Practical implicationsThe algorithm is able to obtain the solution to the path‐planning problem for any industrial robot working in a complex environment.Originality/valueGives a new tool for solving the path‐planning problem.

The estimation of dynamic parameters in mechanical systems constitutes an issue of crucial importance both for inverse dynamics based control strategies and dynamic simulation applications where high accuracy is required. The identification procedures can be classified in two main groups: indirect and direct procedures. The first ones act sequentially in several steps in each of them parameters of different nature (basically friction and inertial parameters) are identified by means of specifically designed experiments, while the direct procedures allow the identification of all parameters defining de dynamic model in a single stage. In this paper, the implementation and comparison of an indirect and a direct identification procedures on an industrial robot provided with an open control architecture is addressed.