Placing a robot manipulator amid obstacles for optimized execution
作者： D. Hsu , J.-C. Latcombe , S. Sorkin
DOI: 10.1109/ISATP.1999.782972
关键词:
摘要: This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in environment cluttered with obstacles, order to execute specified tasks as fast possible. The uses randomized motion planning techniques and exploits geometric "coherence" configuration space achieve computation. performance is demonstrated on both synthetic examples real-life CAD data from automotive industry. computation time ranges under minute simple problems few minutes more complex ones.
sci-hub.se 参考文章(20)
Jean-Claude Latombe, Robot Motion Planning ,(1990)
Nancy M. Amato, O. Burchan Bayazit, Lucia K. Dale, Daniel Vallejo, Christopher Jones, OBPRM: an obstacle-based PRM for 3D workspaces workshop on the algorithmic foundations of robotics. pp. 155- 168 ,(1998)
Jérôme Barraquand, Jean-Claude Latombe, Robot motion planning: a distributed representation approach The International Journal of Robotics Research. ,vol. 10, pp. 628- 649 ,(1991) , 10.1177/027836499101000604
Homayoun Seraji, Reachability Analysis for Base Placement in Mobile Manipulators Journal of Robotic Systems. ,vol. 12, pp. 29- 43 ,(1995) , 10.1002/ROB.4620120104
F.B. Ouezdou, S. Régnier, General method for kinematic synthesis of manipulators with task specifications Robotica. ,vol. 15, pp. 653- 661 ,(1997) , 10.1017/S0263574797000787
Bruce Donald, Patrick Xavier, John Canny, John Reif, Kinodynamic motion planning Journal of the ACM. ,vol. 40, pp. 1048- 1066 ,(1993) , 10.1145/174147.174150
P.C. Chen, Y.K. Hwang, SANDROS: a motion planner with performance proportional to task difficulty international conference on robotics and automation. pp. 2346- 2353 ,(1992) , 10.1109/ROBOT.1992.220112
J. Canny, B. Donald, J. Reif, P. Xavier, On the complexity of kinodynamic planning [Proceedings 1988] 29th Annual Symposium on Foundations of Computer Science. pp. 306- 316 ,(1988) , 10.1109/SFCS.1988.21947
J.T. Feddema, Kinematically optimal robot placement for minimum time coordinated motion international conference on robotics and automation. ,vol. 4, pp. 3395- 3400 ,(1996) , 10.1109/ROBOT.1996.509229
L.E. Kavraki, P. Svestka, J.-C. Latombe, M.H. Overmars, Probabilistic roadmaps for path planning in high-dimensional configuration spaces international conference on robotics and automation. ,vol. 12, pp. 566- 580 ,(1996) , 10.1109/70.508439