書誌事項
- タイトル別名
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- Motion Planning for 6 DOF Robot Arm Based on Maze-searching
- メイロ タンサクホウ ニ モトズク 6ジユウド アームガタ ロボット ノ ドウサ ケイカク
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抄録
In this paper, we propose a fast motion planning method for 6 DOF manipulator based on a maze-searching algorithm. Proposed method is utilizing the CPFS (Closest Point First Search) algorithm similar to the Bug2 algorithm proposed by Lumelsky. We have modified CPFS algorithm with FAP (Footprint Avoidance Procedure) in order to guarantee that the planning does not fall into the deadlock situation. At the beginning of the planning, the initial configuration of 6 DOF robot moves straight toward goal configuration . When the path meets collision configuration, the path is generated along the boundary between free- and collision-configuration. Using computer simulation, we evaluate the proposed method with calculation time. As a result, the proposed method can generate a path with 10 times shorter than the RRT method.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 28 (8), 915-922, 2010
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204724839936
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- NII論文ID
- 10027464973
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 10875099
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可