Path planning for industrial robot arms - A parallel randomized approach

  • The paper presents a novel approach to parallel motion planning for robot manipulators in 3D workspaces. The approach is based on a randomized parallel search algorithm and focuses on solving the path planning problem for industrial robot arms working in a reasonably cluttered workspace. The path planning system works in the discretized configuration space which needs not to be represented explicitly. The parallel search is conducted by a number of rule-based sequential search processes, which work to nd a path connecting the initial configuration to the goal via a number of randomly generated subgoal configurations. Since the planning performs only on-line collision tests with proper proximity information without using pre-computed information, the approach is suitable for planning problems with multirobot or dynamic environments. The implementation has been carried out on the parallel virtual machine (PVM) of a cluster of SUN4 workstations and SGI machines. The experimental results have shown that the approach works well for a 6-dof robot arm in a reasonably cluttered environment, and that parallel computation increases the efficiency of motion planning significantly.

Metadaten exportieren

  • Export nach Bibtex
  • Export nach RIS

Weitere Dienste

Teilen auf Twitter Suche bei Google Scholar
Metadaten
Verfasserangaben:Dominik Henrich, Caigong Qin
URN (Permalink):urn:nbn:de:hbz:386-kluedo-9730
Dokumentart:Wissenschaftlicher Artikel
Sprache der Veröffentlichung:Englisch
Jahr der Fertigstellung:1996
Jahr der Veröffentlichung:1996
Veröffentlichende Institution:Technische Universität Kaiserslautern
Datum der Publikation (Server):04.04.2000
Freies Schlagwort / Tag:AG-RESY ; PARO ; SKALP
Fachbereiche / Organisatorische Einheiten:Fachbereich Informatik
DDC-Sachgruppen:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Sammlungen:AG RESY
Lizenz (Deutsch):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011

$Rev: 13581 $