標題: Potential-based path planning for robot manipulators
作者: Lin, CC
Kuo, LW
Chuang, JH
資訊工程學系
Department of Computer Science
公開日期: 1-六月-2005
摘要: In this paper, a potential-based path-planning algorithm for a high DOF robot manipulator is proposed. Unlike some c-space-based approaches, which often require expensive preprocessing for the construction of the c-space, the proposed approach uses the workspace information directly The approach computes, similar to that done in electrostatics, repulsive force and torque between objects in the workspace. A collision-free path of a manipulator will then be obtained by locally adjusting the manipulator configuration to search for minimum potential configurations using that force and torque. The proposed approach is efficient because these potential gradients are analytically tractable. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance, for manipulators up to 9 degrees of freedom (DOF). © 2005 Wiley Periodicals, Inc.
URI: http://dx.doi.org/10.1002/rob.20067
http://hdl.handle.net/11536/13684
ISSN: 0741-2223
DOI: 10.1002/rob.20067
期刊: JOURNAL OF ROBOTIC SYSTEMS
Volume: 22
Issue: 6
起始頁: 313
結束頁: 322
顯示於類別:期刊論文


文件中的檔案:

  1. 000229127100002.pdf