NDLI: Path planning with general end-effector constraints: using task space to guide configuration space search

Content Provider	IEEE Xplore Digital Library
Author	Zhenwang Yao Gupta, K.
Copyright Year	2005
Description	Author affiliation: Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada (Zhenwang Yao; Gupta, K.)
Abstract	In this paper, we address the path planning problem with general end-effector constraints (PPGEC) for robot manipulators. Two approaches are proposed. The first approach is adapted from an existing randomized gradient descent (RGD) method for closed-chain robots. The second approach is radically different. We call it ATACE alternate task-space and configuration-space exploration. Unlike the first approach which searches purely in C-space, ATACE works in both task space and C-space. It explores the task space for end-effector paths satisfying given constraints, and utilizes trajectory tracking technique(s) as a local planner(s) to track these paths in the configuration space. We have implemented both approaches and compare their relative performances in different scenarios. ATACE outperforms RGD in majority (but not all) of the scenarios. We outline intuitive explanations for the relative performances of these two approaches.
Starting Page	1875
Ending Page	1880
File Size	224907
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545305
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Orbital robotics Trajectory Space exploration Manipulators Glass Kinematics Motion planning Space stations Satellites ATACE end-effector constraints
Content Type	Text
Resource Type	Article

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