Factor-guided motion planning for a robot arm

Motion planning for robotic arms is important for real, physical world applications. The planning for arms with high-degree-of-freedom (DOF) is hard because its search space is large (exponential in the number of joints), and the links may collide with static obstacles or other joints (self-collisio...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 27 - 32
Main Authors Jaesik Choi, Amir, E.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Arm
Dynamic programming
Intelligent robots
Manipulators
Motion planning
Orbital robotics
Path planning
Polynomials
Shape
Urban planning
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399555

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Summary:Motion planning for robotic arms is important for real, physical world applications. The planning for arms with high-degree-of-freedom (DOF) is hard because its search space is large (exponential in the number of joints), and the links may collide with static obstacles or other joints (self-collision). In this paper we present a motion planning algorithm that finds plans of motion from one arm configuration to a goal arm configuration in 2D space assuming no self-collision. Our algorithm is unique in two ways: (a) it utilizes the topology of the arm and obstacles to factor the search space and reduce the complexity of the planning problem using dynamic programming; and (b) it takes only polynomial time in the number of joints under some conditions. We provide a sufficient condition for polytime motion planning for 2D-space arms: if there is a path between two homotopic configurations, an embedded local planner finds a path within a polynomial time. The experimental results show that the proposed algorithm improves the performance of path planning for 2D arms.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399555