Development and comparison of search algorithms for robot motion planning in the configuration space

摘要

Proposes two algorithms for motion planning of robot arm manipulators. One is based on the algorithms by Lumelsky et al. (1987, 1990), which is extended to three and higher dimensional spaces. The other one utilizes the path of the tool center point (TCP) and consists of two stages: the first stage, a path of TCP is planned; and the second stage, a path of the whole robot is planned based on the path obtained at the first stage. They are implemented and compared with some other search algorithms.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>