Publikationsdatenbank
Publication
Path planning for industrial robot arms - A parallel randomized approachDominik 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: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?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{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=henrich1996a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| henrich1996a.Path.planning.for.industrial.robot.arms.A.paral lel.randomized.approach.djvu |
124K | english | DJVU | download preprint | |||
| henrich1996a.Path.planning.for.industrial.robot.arms.A.paral lel.randomized.approach.pdf |
388.4K | english | download preprint |