{"title":"无碰撞运动规划中机器人沿路径可操作性最大化","authors":"Sascha Kaden, Ulrike Thomas","doi":"10.1109/ICAR46387.2019.8981591","DOIUrl":null,"url":null,"abstract":"A major task in motion planning is to find suitable movements with large manipulability, while collision-free operation must be guaranteed. This condition is increasingly important in the collaboration between humans and robots, as the capability of avoidance to humans or dynamic obstacles must be ensured anytime. For this purpose, paths in motion planning have to be optimized with respect to manipulability and distance to obstacles. Because with a large manipulability the robot has at any time, the possibility of evading due to the greater freedom of movement. Alternatively, the robot can be pushed away by using a Cartesian impedance control. To achieve this, we have developed a combined approach. First, we introduce a Rapidly-exploring Random Tree, which is extended and optimized by state costs for manipulability. Secondly, we perform an optimization using the STOMP method and Gaussian Mixture Models. With this dual approach we are able to find paths in narrow passages and simultaneously optimize the path in terms of manipulability.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"59 1","pages":"105-110"},"PeriodicalIF":0.0000,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Maximizing Robot Manipulability along Paths in Collision-free Motion Planning\",\"authors\":\"Sascha Kaden, Ulrike Thomas\",\"doi\":\"10.1109/ICAR46387.2019.8981591\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A major task in motion planning is to find suitable movements with large manipulability, while collision-free operation must be guaranteed. This condition is increasingly important in the collaboration between humans and robots, as the capability of avoidance to humans or dynamic obstacles must be ensured anytime. For this purpose, paths in motion planning have to be optimized with respect to manipulability and distance to obstacles. Because with a large manipulability the robot has at any time, the possibility of evading due to the greater freedom of movement. Alternatively, the robot can be pushed away by using a Cartesian impedance control. To achieve this, we have developed a combined approach. First, we introduce a Rapidly-exploring Random Tree, which is extended and optimized by state costs for manipulability. Secondly, we perform an optimization using the STOMP method and Gaussian Mixture Models. With this dual approach we are able to find paths in narrow passages and simultaneously optimize the path in terms of manipulability.\",\"PeriodicalId\":6606,\"journal\":{\"name\":\"2019 19th International Conference on Advanced Robotics (ICAR)\",\"volume\":\"59 1\",\"pages\":\"105-110\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 19th International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR46387.2019.8981591\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 19th International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR46387.2019.8981591","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Maximizing Robot Manipulability along Paths in Collision-free Motion Planning
A major task in motion planning is to find suitable movements with large manipulability, while collision-free operation must be guaranteed. This condition is increasingly important in the collaboration between humans and robots, as the capability of avoidance to humans or dynamic obstacles must be ensured anytime. For this purpose, paths in motion planning have to be optimized with respect to manipulability and distance to obstacles. Because with a large manipulability the robot has at any time, the possibility of evading due to the greater freedom of movement. Alternatively, the robot can be pushed away by using a Cartesian impedance control. To achieve this, we have developed a combined approach. First, we introduce a Rapidly-exploring Random Tree, which is extended and optimized by state costs for manipulability. Secondly, we perform an optimization using the STOMP method and Gaussian Mixture Models. With this dual approach we are able to find paths in narrow passages and simultaneously optimize the path in terms of manipulability.