Optimizing Mobility of Robotic Arms in Collision-free Motion Planning
| Autor: | Ulrike Thomas, Sascha Kaden |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Flexibility (engineering)
0209 industrial biotechnology Computer science Mechanical Engineering 020208 electrical & electronic engineering Real-time computing 02 engineering and technology Trajectory optimization Mixture model Industrial and Manufacturing Engineering 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering Path (graph theory) Random tree 0202 electrical engineering electronic engineering information engineering Robot Motion planning Electrical and Electronic Engineering Robotic arm Software |
| Zdroj: | Journal of Intelligent & Robotic Systems. 102 |
| ISSN: | 1573-0409 0921-0296 |
| DOI: | 10.1007/s10846-021-01407-0 |
| Popis: | A major task in motion planning is to find paths that have a high ability to react to external influences while ensuring a collision-free operation at any time. This flexibility is even more important in human-robot collaboration since unforeseen events can occur anytime. Such ability can be described as mobility, which is composed of two characteristics. First, the ability to manipulate, and second, the distance to joint limits. This mobility needs to be optimized while generating collision-free motions so that there is always the flexibility of the robot to evade dynamic obstacles in the future execution of generated paths. For this purpose, we present a Rapidly-exploring Random Tree (RRT), which applies additional costs and sampling methods to increase mobility. Additionally, we present two methods for the optimization of a generated path. Our first approach utilizes the built-in capabilities of the RRT*. The second method optimize the path with the stochastic trajectory optimization for motion planning (STOMP) approach with Gaussian Mixture Models. Moreover, we evaluate the algorithms in complex simulation and real environments and demonstrate an enhancement of mobility. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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