A new path planning algorithm for manipulators

This paper proposes a path-planning algorithm for multi-arm manipulators that calculates paths by searching grid points in Euclidean space directly instead of configuration space. The algorithm is back track free and resolution complete. Different from existing resolution complete algorithms, its co...

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Bibliographic Details
Main Authors: Tamura, S., Yanase, T., Islam, M.N., Ito, T., Miyashita, H.
Format: Conference Proceeding
Language:English
Subjects:
Arm
Backtrack free
Collision free path
Grid computing
Indium tin oxide
Multi-arm manipulator
Nuclear magnetic resonance
Path planning
Prototypes
Resolution complete
Online Access:Request full text
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Description
Summary:This paper proposes a path-planning algorithm for multi-arm manipulators that calculates paths by searching grid points in Euclidean space directly instead of configuration space. The algorithm is back track free and resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical time even for manipulators with many arms, and it becomes possible to apply it to manipulators that operate in complicated and fully automated environments. Effectiveness of the algorithm is evaluated by applying a preliminary prototype to path-planning in 2-dimensional space.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2005.1571482