将机器人机械手置于障碍物中以优化执行

Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470) Pub Date : 1999-07-21 DOI:10.1109/ISATP.1999.782972

David Hsu, J.-C. Latcombe, S. Sorkin

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引用次数: 77

摘要

本文提出了一种有效的算法，用于在障碍物混杂的环境中优化机器人的基座位置，以尽快完成指定的任务。该算法采用随机化运动规划技术，利用构型空间的几何“相干性”实现快速计算。该算法的性能在合成实例和来自汽车工业的实际CAD数据上得到了验证。计算时间从简单问题的一分钟到更复杂问题的几分钟不等。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Placing a robot manipulator amid obstacles for optimized execution

This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible. The algorithm uses randomized motion planning techniques and exploits geometric "coherence" in configuration space to achieve fast computation. The performance of the algorithm is demonstrated on both synthetic examples and real-life CAD data from the automotive industry. The computation time ranges from under a minute for simple problems to a few minutes for more complex ones.

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来源期刊

Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)

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