Application of the CIRSSE Cooperating Robot Path Planner to the NASA Langley Truss Assembly Problem
نویسندگان
چکیده
A method for autonomously planning collision f1_ee paths for two cooperating robots in a static environment has been developed at CIRSSE. The melhod utilizes a divide-and.conquer type of heuristic and involves non-exhaustive mapping of configuration space. While there is no guarantee of finding a solution, the planner has been successfully applied to a variety of problems including two cooperating 9 dof robots. Although developed primarily for cooperating robots, the method is also applicable to single robot path plan. ning problems. A single 6 dof version of the planner has been intplemented for the truss assembly task at NASA Langley's Automated Structural Assembly Lab ASAL). The results indicate that the planner could very useful in addressing the ASAL path planning problem and thai further work along these lines is warranted.
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