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Intelligent Service Robotics

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17.06.2019 | Original Research Paper

Sampling-based motion planning of manipulator with goal-oriented sampling

verfasst von: Gitae Kang, Yong Bum Kim, Young Hun Lee, Hyun Seok Oh, Won Suk You, Hyouk Ryeol Choi

Erschienen in: Intelligent Service Robotics | Ausgabe 3/2019

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Abstract

A sampling-based planning algorithm is one of the most powerful tools for collision avoidance in the motion planning of manipulators. However, this algorithm takes a long time to generate motions of the manipulator. This work proposes a goal-oriented (GO) sampling method for the motion planning of a manipulator. The GO sampling method can identify the initial solution in a shorter time than other sampling-based algorithms, leading to significant improvement in computational efficiency. Based on the GO sampling method, cases involving configuration space and collision checking are implemented based on the proposed equations in the planning of manipulator motion. Different combinations of configuration space settings are mainly analyzed and compared through experiments using a six-degree-of-freedom manipulator.

Vorheriger Artikel Trajectory-based gait pattern shift detection for assistive robotics applications

Nächster Artikel Correction to: Kinematic design optimization for anthropomorphic robot hand based on interactivity of fingers

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Titel: Sampling-based motion planning of manipulator with goal-oriented sampling
verfasst von: Gitae Kang
Yong Bum Kim
Young Hun Lee
Hyun Seok Oh
Won Suk You
Hyouk Ryeol Choi
Publikationsdatum: 17.06.2019
Verlag: Springer Berlin Heidelberg
Erschienen in: Intelligent Service Robotics / Ausgabe 3/2019
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI: https://doi.org/10.1007/s11370-019-00281-y

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