Local Path Planning with Proximity Sensing for Robot Arm Manipulators
نویسنده
چکیده
In this paper, the problem of sensor-based path planning for robot arm manipulators operating among unknown obstacles of arbitrary shape is considered. It has been known that, in principle, algorithms with proven convergence can be designed for planar and simple three-dimensional robot arms operating under such conditions. However, implementation of such algorithms presents a variety of problems related to covering the robot arm with a "sensitive skin", processing data from large arrays of sensors, and designing algorithms for step-by-step motion planning based on limited information. This paper describes our first results of the implementation studies on strategies for robot motion planning in an uncertain environment.
منابع مشابه
Proximity sensing in robot manipulator motion planning: system and implementation issues
Edward Cheung and Vladimir Lumelsky Yale University, Department of Electrical Engineering New Haven, Connecticut 06520 In this paper. the problem of sensor-based path planning for robot arm manipulators operating among unknown obstacles of arbitrary shape is considered. It has been known that algorithms with proven convergence can be designed fOr planar and simple three-dimensional robot arms o...
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