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Path planning for industrial robot arms - A parallel randomized approach
Dominik Henrich , Caigong Qin

Abstract (english)
The paper presents a novel approach to parallel motion planning for robot manipulators in 3D workspaces. The approach is based on a randomized parallel search algorithm and focuses on solving the path planning problem for industrial robot arms working in a reasonably cluttered workspace. The path planning system works in the discretized configuration space which needs not to be represented explicitly. The parallel search is conducted by a number of rule-based sequential search processes, which work to nd a path connecting the initial configuration to the goal via a number of randomly generated subgoal configurations. Since the planning performs only on-line collision tests with proper proximity information without using pre-computed information, the approach is suitable for planning problems with multirobot or dynamic environments. The implementation has been carried out on the parallel virtual machine (PVM) of a cluster of SUN4 workstations and SGI machines. The experimental results have shown that the approach works well for a 6-dof robot arm in a reasonably cluttered environment, and that parallel computation increases the efficiency of motion planning significantly.

Publication data

Year: 1996
Publication date: 22. July 1996
Source: Proceedings of the International Symposium on Intelligent Robotic Systems (SIRS'96), Lisbon, Portugal, July 22-26, 1996, pp 65-72
Project: SKALP , PARO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1996a

BibTeX

@MISC{henrich1996a,
  TITLE             = "Path planning for industrial robot arms - A parallel randomized approach",
  AUTHOR            = "Henrich, Dominik and Qin, Caigong",
  YEAR              = "1996",
  JOURNAL           = "Proceedings of the International Symposium on Intelligent Robotic Systems (SIRS'96), Lisbon, Portugal, July 22-26, 1996, pp 65-72",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1996a}",
}

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