  Many robot arms can accomplish one task using many different joint
configurations. Often only one of these configurations is used as a goal by the
path planner. Ideally the robot's path planner would be able to use the extra
configurations to find higher quality paths. In this paper we use the extra
goal configurations to find significantly shorter paths that are faster to
execute compared to a planner that chooses one goal configuration arbitrarily.
In a grape vine pruning robot arm experiment our proposed approach reduced
execution times by 58%.
