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.
Author: | Dominik Henrich, Caigong Qin |
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URN: | urn:nbn:de:hbz:386-kluedo-9730 |
Document Type: | Article |
Language of publication: | English |
Year of Completion: | 1996 |
Year of first Publication: | 1996 |
Publishing Institution: | Technische Universität Kaiserslautern |
Date of the Publication (Server): | 2000/04/04 |
Tag: | AG-RESY; PARO; SKALP |
Faculties / Organisational entities: | Kaiserslautern - Fachbereich Informatik |
DDC-Cassification: | 0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik |
Collections: | AG RESY |
Licence (German): | Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011 |