Efficient collision-free planning of a robot manipulator

Pi-Ying Cheng*, D. C. Liu

*此作品的通信作者

    研究成果: Article同行評審

    摘要

    This work presents a novel method for deriving an efficient collision-free-path in a configuration space. The proposed algorithm combines a Network Planning. Algorithm (NPA) with the Dijkstra algorithm to determine the path. This study also proposes a joint configuration space, where the motion freedom constrained by the obstacles maps to the degree of freedom of the joint configuration. As proposed herein, the most efficient means of generating the shortest path in the configuration space is to plan a straight line from the starting point to the goal point via segments with the shortest length, which cross the surface patches of the obstacles. Thus, this work concentrates on a local shortest distance path-planning task for a freeform surface model. Finally, several illustrative examples demonstrate the shortest path for the PUMA type robot, confirming that the proposed method works in different environments.

    原文English
    頁(從 - 到)85-93
    頁數9
    期刊International Journal of Robotics Research
    15
    發行號2
    出版狀態Published - 1 十二月 1996

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