Title :
Placing a robot manipulator amid obstacles for optimized execution
Author :
Hsu, David ; Latcombe, J.-C. ; Sorkin, Stephen
Author_Institution :
Dept. of Comput. Sci., Stanford Univ., CA, USA
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
Keywords :
automobile industry; industrial manipulators; optimisation; path planning; automotive industry; base placement; configuration space; industrial manipulator; obstacle avoidance; optimisation; path planning; Computer science; Manipulators; Manufacturing industries; Motion planning; Orbital robotics; Path planning; Robotics and automation; Service robots; Spot welding; Throughput;
Conference_Titel :
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on
Conference_Location :
Porto
Print_ISBN :
0-7803-5704-3
DOI :
10.1109/ISATP.1999.782972
