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http://hdl.handle.net/1942/28727
Title: | Sampling-based Tube Following for Redundant, Planar Robotic Manipulators | Authors: | DE MAEYER, Jeroen Versteyhe, Mark DEMEESTER, Eric |
Issue Date: | 2018 | Publisher: | IEEE | Source: | 2018 IEEE 23RD INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA), IEEE,p. 752-758 | Series/Report: | IEEE International Conference on Emerging Technologies and Factory Automation-ETFA | Abstract: | This paper introduces a global, sampling-based motion planning approach to the tube following problem for redundant robot manipulators. Tube following is a motion planning problem where an under-defined end-effector path is given. We introduce a novel combination of existing task space and redundant configuration space sampling techniques. These techniques are applied to the tube following problem, comparing three different sampling techniques: uniform grid, uniform random and Halton sampling. In addition, an incremental sampling technique is proposed, specifically for tube following problems. Eventually, iterative grid refining is used to locally optimise path cost. Experimental results demonstrate the clear potential of these techniques to achieve fully automatic, collision-free motion planning for tube following with redundant robot manipulators. Our planning software is publicly available. | Notes: | [De Maeyer, Jeroen; Demeester, Eric] Katholieke Univ Leuven, Dept Mech Engn, ACRO Res Grp, Diepenbeek Campus, Diepenbeek, Belgium. [Versteyhe, Mark] Katholieke Univ Leuven, Dept Mech Engn, Grp M, Bruges Campus, Brugge, Belgium. | Keywords: | motion planning problem; end-effector path; uniform grid; incremental sampling technique; collision-free motion planning; redundant robot manipulators; planning software; sampling-based; motion planning; path cost; sampling-based tube following; planar robotic manipulators; tube following problem; redundant configuration space sampling techniques; uniform random sampling; sampling-based motion planning; Halton sampling | Document URI: | http://hdl.handle.net/1942/28727 | ISBN: | 9781538671085 | ISI #: | 000449334500094 | Category: | C1 | Type: | Proceedings Paper |
Appears in Collections: | Research publications |
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