Title:
Diverse Workspace Path Planning for Robot Manipulators
Diverse Workspace Path Planning for Robot Manipulators
Author(s)
Quispe, Ana Huamán
Stilman, Mike
Stilman, Mike
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
We present a novel algorithm that generates a set of diverse workspace paths for
manipulators. By considering more than one possible path we give our manipulator
the flexibility to choose from many possible ways to execute a task. This is
particularly important in cases in which the best workspace path cannot be executed
by the manipulator (e.g. due to the presence of obstacles that collide with
the manipulator links). Our workspace paths are generated such that a distance
metric between them is maximized, allowing them to span different workspace regions.
Manipulator planners mostly focus on solving the problem by analyzing the
configuration space (e.g. Jacobian-based methods); our approach focuses on analyzing
alternative workspace paths which are comparable to the optimal solution in
terms of length. This paper introduces our intuitive algorithm and also presents the
results of a series of experiments performed with a simulated 7 DOF robotic arm.
Sponsor
Date Issued
2012-07
Extent
Resource Type
Text
Resource Subtype
Technical Report