Title :
Fast motion planning for articulated robots
Author :
Camel, Ben ; Challou, Daniel J. ; Boley, Daniel ; Gini, Maria ; Kumar, Vipin
Author_Institution :
Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
Abstract :
We show how to generate paths for redundant articulated robots in a few seconds or less using randomized search on multicomputers. We present experimental results obtained for an accurate model of a 7-jointed manipulator arm operating in realistic 3D workspaces. We then present and discuss a fast method for smoothing the paths delivered by the parallel algorithm
Keywords :
parallel algorithms; path planning; robots; search problems; smoothing methods; 3D workspaces; fast motion planning; parallel algorithm; path smoothing; randomized search; redundant articulated robots; Computer science; Manipulators; Motion detection; Motion planning; Orbital robotics; Parallel algorithms; Parallel robots; Path planning; Process planning; Robots; Smoothing methods; Trademarks;
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.400079
