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

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 2211-2216

  Yao, Zhenwang ^a   Gupta, Kamal ^a  

^a SIMON FRASER UNIVERSITY   (Canada)

Author keywords

ATACE; End effector constraints; Path planning

Indexed keywords

ATACE; C-SPACE; CONFIGURATION SPACE; END-EFFECTOR CONSTRAINTS; GRADIENT DESCENT; PATH PLANNING; PATH PLANNING PROBLEMS; RELATIVE PERFORMANCE; ROBOT MANIPULATOR; TASK SPACE; TRAJECTORY TRACKING;

INTELLIGENT ROBOTS; MOTION PLANNING; PLANNING; ROBOT APPLICATIONS; SPACE RESEARCH; WAVE FUNCTIONS;

ROBOT PROGRAMMING;

EID: 79957997614     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545305     Document Type: Conference Paper

References (18)

1. J. Ahuactzin and K. Gupta. The kinematic roadmap: A motion planning based global approach for inverse kinematics of redundant robots. IEEE Transactions on Robotics and Automation, 15:653-669, 1999.
2. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano. Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy. International Journal of Robotics Research, 10:410-425, 1991. (Pubitemid 21680771)
3. J. Cortes, T. Simeon, and J.P. Laumond. A random loop generator for planning the motions of closed kinematic chains with prm methods. In IEEE International Conference on Robotics and Automation, pages 2141-2146, 2002. (Pubitemid 34916557)
4. J. Craig. Introduction to Robotics: Mechanics and Control, Second Edition. Addison-Wesley Longman Publishing Co., Inc., 1989.
5. I. Gipson, K. Gupta, and M. Greenspan. MPK: An open extensible motion planning kernel. Journal of Robotic Systems, 18(8):433-443, Aug. 2001. (Pubitemid 32736715)
6. Z. Guo and T. Hsia. Joint trajectory generation for redundant robots in an environment with obstacles. In IEEE International Conference on Robotics and Automation, pages 157-162, 1990.
7. L. Han and N. Amato. A kinematics-based probabilistic roadmap method for closed kinematic chains. In B. Donald, K. Lynch, and D. Rus, editors, Workshop on Algorithmic Foundations of Robotics, pages 233-246, March 2000.
8. T. Hsia and Z. Guo. Joint trajectory generation for redundant robot. In IEEE International Conference on Robotics and Automation, pages 14-19, 1989.
9. Internet. http://www.space.gc.ca/asc/eng/iss/mssssrms.asp (Accessed in Jan 2005).
10. L. Kavraki, J.-C. Latombe, R. Motwani, and P. Raghavan. Randomized query processing in robot path planning. In 27th Annual ACM Symposium on Theory of Computing, pages 353-362, Las Vegas, Nevada, United States, 1995.
11. J.-C. Latombe. Robot Motion Planning. Kluwer Academic Publishers, 1991.
12. S. Lavalle, J. Yakey, and L. Kavraki. A probabilistic roadmap approach for systems with closed kinematic chains. In IEEE International Conference on Robotics and Automation, pages 1671-1676, 1999.
13. S. M. LaValle. Rapidly-exploring random trees: A new tool for path planning. Technical Report TR 98-11, Computer Science Dept. Iowa State University, Oct. 1998.
14. A. Maciejewski and C. Klein. Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments. International Journal of Robotics Research, 4:109-117, 1985. (Pubitemid 15582240)
15. Y. Nakamura and H. Hanafusa. Task-priority based redundancy control of robot manipulators. International Journal of Robotics Research, 6:3-15, 1987. (Pubitemid 17619829)
16. G. Oriolo, M. Ottavi, and M. Vendittelli. Probabilistic motion planning for redundant robots along given end-effector paths. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1657-1662, 2002. (Pubitemid 35438047)
17. S. Seereeram and J.T. Wen. A global approach to path planning for redundant manipulators. IEEE Transactions on Robotics and Automation, 11:152-160, 1995.
18. Zhenwang Yao. Path planning with end-effector constraints. Master's thesis, School of Engineering Science, Simon Fraser University, 2004.