{"title":"机器人最优分解快速路径规划","authors":"Arjang Hourtash, M. Tarokh","doi":"10.1109/ICAR.1997.620204","DOIUrl":null,"url":null,"abstract":"The paper presents a method for path planning by decomposition and parallel search. The manipulator is decomposed into chains of consecutive links and joints. A set of postures is defined to represent the motions of each chain. A collision table combines these sets and identifies collisions of the robot. A two phase online planning method constructs a path for each chain independently, and then synthesizes them into a collision free robot path. A backtracking scheme is introduced to improve the success rate, and a prescription is given for optimal decomposition of a robot for reduced planning time and improved success rate. An example of a 7-DOF robot is given to demonstrate the method, and to show its short online planning time.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"53 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Optimal robot decomposition for fast path planning\",\"authors\":\"Arjang Hourtash, M. Tarokh\",\"doi\":\"10.1109/ICAR.1997.620204\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents a method for path planning by decomposition and parallel search. The manipulator is decomposed into chains of consecutive links and joints. A set of postures is defined to represent the motions of each chain. A collision table combines these sets and identifies collisions of the robot. A two phase online planning method constructs a path for each chain independently, and then synthesizes them into a collision free robot path. A backtracking scheme is introduced to improve the success rate, and a prescription is given for optimal decomposition of a robot for reduced planning time and improved success rate. An example of a 7-DOF robot is given to demonstrate the method, and to show its short online planning time.\",\"PeriodicalId\":228876,\"journal\":{\"name\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"volume\":\"53 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-07-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.1997.620204\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1997.620204","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Optimal robot decomposition for fast path planning
The paper presents a method for path planning by decomposition and parallel search. The manipulator is decomposed into chains of consecutive links and joints. A set of postures is defined to represent the motions of each chain. A collision table combines these sets and identifies collisions of the robot. A two phase online planning method constructs a path for each chain independently, and then synthesizes them into a collision free robot path. A backtracking scheme is introduced to improve the success rate, and a prescription is given for optimal decomposition of a robot for reduced planning time and improved success rate. An example of a 7-DOF robot is given to demonstrate the method, and to show its short online planning time.
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