Planning and heuristics of assistant manipulator

摘要

The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.