Title:
Deterministic Motion Planning for Redundant Robots along End-Effector Paths
Deterministic Motion Planning for Redundant Robots along End-Effector Paths
Author(s)
Quispe, Ana Huamán
Stilman, Mike
Stilman, Mike
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Abstract
In this paper we propose a deterministic approach
to solve the
Motion Planning along End-Effector Paths problem
(MPEP) for redundant manipulators. Most of the existing approaches are based on local optimization techniques, hence they
do not offer global guarantees of finding a path if it exists. Our
proposed method is resolution complete. This feature is achieved
by discretizing the Jacobian nullspace at each waypoint and
selecting the next configuration according to a given heuristic
function. To escape from possible local minima, our algorithm
implements a backtracking strategy that allows our planner
to recover from erroneous previous configuration choices by
performing a breadth-first backwards search procedure. We
present the results of simulated experiments performed with
diverse manipulators and a humanoid robot.
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Date Issued
2012-11
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