کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
412752 679680 2007 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Path planning with general end-effector constraints
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Path planning with general end-effector constraints
چکیده انگلیسی

In this paper, we address the path planning problem with general end-effector constraints (PPGEC) for robot manipulators. Two approaches are proposed. The first approach is the Adapted-RGD method, which is adapted from an existing randomized gradient descent (RGD) method for closed-chain robots. The second approach is radically different. We call it ATACE, Alternate Task-space And Configuration-space Exploration. Unlike the first approach which searches purely in C-space, ATACE works in both task space and C-space. It explores the task space for end-effector paths satisfying given constraints, and utilizes trajectory tracking technique(s) as a local planner(s) to track these paths in the configuration space. We have implemented both approaches and compared their relative performances in different scenarios. ATACE outperforms Adapted-RGD in the majority (but not all) of the scenarios. We outline intuitive explanations for the relative performances of these two approaches.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 55, Issue 4, 30 April 2007, Pages 316–327
نویسندگان
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