Six Degree of Freedom Analytical Path Planning on Two Arm Manipulation
نویسنده
چکیده
This article discusses the limitations of doing two arm path planning for robotic manipulation as one twelve degree of freedom problem. The solution to finding a twelve degree of freedom analytical solution, is then arrived at: find two different six degree of freedom solutions. An algorithm for putting these two solutions together is then introduced, and an experiment conducted to test the algorithm's effectiveness.
منابع مشابه
Designing Path for Robot Arm Extensions Series with the Aim of Avoiding Obstruction with Recurring Neural Network
In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...
متن کاملParallel Motion Planning with the Ariadne ' sClew
| We describe an implementation of a real time path planner for a robot arm with six degrees of freedom moving among dynamical obstacles. The planner is based on a novel technique called the Ariadne's Clew Algorithm. A brief description of this algorithm and parallel implementation of it are presented. Finally we analyze experiments made with this planner.
متن کاملReactionless Path Planning Strategies for Capture of Tumbling Objects in Space Using a Dual-Arm Robotic System
This paper presents strategies for point-to-point reactionless manipulation of a satellite mounted dual-arm robotic system for capture of tumbling orbiting objects, such as out-ofcommission satellites and space debris. Use of the dual-arm robot could be more effective than the single arm when there is no provision for a grapple fixture or the object is tumbling. The dual arms can also provide d...
متن کاملDynamic Nonprehensile Manipulation: Controllability, Planning, and Experiments
We are interested in using low degree-of-freedom robots to perform complex tasks by not grasping (nonprehensile manipulation). By not grasping, the robot can use gravitational, centrifugal, and Coriolis forces as virtual motors to control more degrees-of-freedom of the part. The extra motion freedoms of the part are exhibited as rolling, slipping, and free ight. This paper describes controllabi...
متن کاملThe Ariadne ' s Clew AlgorithmEmmanuel
We present a new approach to path planning, called the \Ariadne's clew algorithm". It is designed to nd paths in high-dimensional continuous spaces and applies to robots with many degrees of freedom in static, as well as dynamic environments | ones where obstacles may move. The Ariadne's clew algorithm comprises two sub-algorithms, called search and explore, applied in an interleaved manner. ex...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2012