Motion Planning for 6 DOF Robot Arm Based on Maze-searching
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- Kamoi Ryosuke
- Toyama National College of Technology Mechanical and Electrical System Engineering Course
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- Sato Keisuke
- Toyama National College of Technology Department of Electrical and Control System Engineering
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- Sakai Hideaki
- SUGINO MACHINE LIMITED
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- Takeyama Shinichi
- SUGINO MACHINE LIMITED
Bibliographic Information
- Other Title
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- 迷路探索法に基づく6自由度アーム型ロボットの動作計画
- 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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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 28 (8), 915-922, 2010
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204724839936
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- NII Article ID
- 10027464973
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 10875099
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed