Planning of graspless manipulation based on rapidly-exploring random trees

Author

Miyazawa, Kiyokazu ; Maeda, Yusuke ; Arai, Tamio

Author_Institution

Dept. of Precision Eng., Tokyo Univ.

fYear

2005

fDate

19-21 July 2005

Firstpage

7

Lastpage

12

Abstract

Planning of graspless manipulation is a difficult problem because of the complicated mechanics involved. The authors previously developed a motion planning method for general graspless manipulation by robot fingertips, but it requires a great deal of computation. In this paper, we present an improved method based on a probabilistic technique, RRTs (rapidly-exploring random trees), to accelerate planning. The method is applied to the planning of graspless manipulation where the manipulated object has three degrees of freedom, while our previous planner can deal with manipulation where the object has only one degree of freedom

Keywords

dexterous manipulators; industrial manipulators; motion control; motion estimation; path planning; random processes; trees (mathematics); graspless manipulation; motion planning method; probabilistic technique; rapidly-exploring random trees; Acceleration; Fingers; Friction; Kinetic theory; Motion planning; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005. (ISATP 2005). The 6th IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

0-7803-9080-6

Type

conf

DOI

10.1109/ISATP.2005.1511442

Filename

1511442