Randomized Parallel Motion Planning for Robot Manipulators

  • We have presented a novel approach to parallel motion planning for robot manipulators in 3D workspaces. The approach is based on arandomized 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 con guration 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 find a path connecting the initial con guration to the goal via a number of randomly generated subgoal con gurations. 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 outontheparallel 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 e ciency of motion planning signi cantly.

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Verfasserangaben:Caigong Qin, Dominik Henrich
URN (Permalink):urn:nbn:de:hbz:386-kluedo-9528
Dokumentart:Wissenschaftlicher Artikel
Sprache der Veröffentlichung:Englisch
Jahr der Fertigstellung:1996
Jahr der Veröffentlichung:1996
Veröffentlichende Institution:Technische Universität Kaiserslautern
Datum der Publikation (Server):28.03.2000
Freies Schlagwort / Tag:AG-RESY ; PARO ; SKALP
Fachbereiche / Organisatorische Einheiten:Fachbereich Informatik
DDC-Sachgruppen:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Sammlungen:AG RESY
Lizenz (Deutsch):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011

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