CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Random Based Narrow Space Path Planning For Arm Manipulation
Jingyi Zheng; Li, En; Liang, Zize
2016-05
Conference NameProceedings of 28th Chinese Control and Decision Conference
Source PublicationIEEE CCDC2016
Conference Date27-31 May 2016
Conference PlaceYinchuan, China
Abstract
    Arm manipulation is a skill for robot working in cluttered environment. In this work, we focus on arm manipulation in narrow space with the end-effector to be a certain orientation. In this paper, we present a random, smooth path planning algorithm to avoid the obstacles considering every link of the arm, moving the arm from the starting point to the destination. Our planning algorithm can make the path similar in different planning process because the algorithm is end-point oriented. The simulation result validates the effectiveness of the algorithm.
KeywordArm Manipulation Path Planning Obstacle Avoidance Path Smoothness
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13008
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorJingyi Zheng
AffiliationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Jingyi Zheng,Li, En,Liang, Zize. Random Based Narrow Space Path Planning For Arm Manipulation[C],2016.
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