WSEAS Transactions on Systems
Print ISSN: 1109-2777, E-ISSN: 2224-2678
Volume 16, 2017
Specialized PRM Trajectory Planning for Hyper-Redundant Robot Manipulators
Authors: ,
Abstract: This Paper presents a general comprehensive computationally tractable collision free path planner for hyper-redundant manipulators multiple-query. The path planner is based on a sampling approach for obstacle avoidance and 2D trajectory planning for N-DOF robotic arms. The quality of created roadmap depends on the initializing parameters such as density as well as resolutions of occupancy grid and tip distribution grid. The motion planner has been developed for all types of manipulators, different joint types and handling various cost functions. Various scenarios have been successfully simulated for manipulators with different degrees of freedom and different types of obstacles with any given start and goal configurations. The simulation results indicate that the collision free motions in highly-constrained environments can be computed in less than a minute.
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Keywords: Optimal Path Planning, Hyper-redundant Manipulators, Obstacle Avoidance, Trajectory Planning
Pages: 254-260
WSEAS Transactions on Systems, ISSN / E-ISSN: 1109-2777 / 2224-2678, Volume 16, 2017, Art. #29