Title :
Development and comparison of search algorithms for robot motion planning in the configuration space
Author :
Akutsu, T. ; Yaoi, S. ; Sato, K. ; Enomoto, S.
Author_Institution :
Mech. Eng. Lab., Ibaraki, Japan
Abstract :
Proposes two algorithms for motion planning of robot arm manipulators. One is based on the algorithms by Lumelsky et al. (1987, 1990), which is extended to three and higher dimensional spaces. The other one utilizes the path of the tool center point (TCP) and consists of two stages: the first stage, a path of TCP is planned; and the second stage, a path of the whole robot is planned based on the path obtained at the first stage. They are implemented and compared with some other search algorithms
Keywords :
planning (artificial intelligence); position control; robots; search problems; arm manipulators; configuration space; robot motion planning; search algorithms; tool center point; Approximation algorithms; Laboratories; Manipulators; Mechanical engineering; Motion planning; Neodymium; Orbital robotics; Polynomials; Robot kinematics; Robot motion;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174506
