{"title":"将机器人机械手置于障碍物中以优化执行","authors":"David Hsu, J.-C. Latcombe, S. Sorkin","doi":"10.1109/ISATP.1999.782972","DOIUrl":null,"url":null,"abstract":"This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible. The algorithm uses randomized motion planning techniques and exploits geometric \"coherence\" in configuration space to achieve fast computation. The performance of the algorithm is demonstrated on both synthetic examples and real-life CAD data from the automotive industry. The computation time ranges from under a minute for simple problems to a few minutes for more complex ones.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"651-653 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"77","resultStr":"{\"title\":\"Placing a robot manipulator amid obstacles for optimized execution\",\"authors\":\"David Hsu, J.-C. Latcombe, S. Sorkin\",\"doi\":\"10.1109/ISATP.1999.782972\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible. The algorithm uses randomized motion planning techniques and exploits geometric \\\"coherence\\\" in configuration space to achieve fast computation. The performance of the algorithm is demonstrated on both synthetic examples and real-life CAD data from the automotive industry. The computation time ranges from under a minute for simple problems to a few minutes for more complex ones.\",\"PeriodicalId\":326575,\"journal\":{\"name\":\"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)\",\"volume\":\"651-653 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-07-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"77\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISATP.1999.782972\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISATP.1999.782972","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Placing a robot manipulator amid obstacles for optimized execution
This paper presents an efficient algorithm for optimizing the base location of a robot manipulator in an environment cluttered with obstacles, in order to execute specified tasks as fast as possible. The algorithm uses randomized motion planning techniques and exploits geometric "coherence" in configuration space to achieve fast computation. The performance of the algorithm is demonstrated on both synthetic examples and real-life CAD data from the automotive industry. The computation time ranges from under a minute for simple problems to a few minutes for more complex ones.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
