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- W2160082631 abstract "Path planning for redundant robotic manipulators received continuous interest in the past decades. Most efforts focused on random sampling-based methods, such as probabilistic roadmap method (PRM) and rapidly-exploring random tree (RRT), since they are suitable for planning in high-dimensional configuration space. Given the workspace goal position and orientation of the end-effector, however, explicitly calculating a collision-free and reachable goal configuration for robot joint angles in the presence of joint limits and self-collisions is not a trivial work. The difficulty forms a bottleneck for the broader applicability of the randomized path planning methods. In this paper, a novel two-stage approach is presented to implicitly solve the formation of inverse kinematics (IK) problems, which employs a variant of RRT to embed the process of IK calculation into construction and exploration of the tree-based data structure. Combined with bidirectional RRT-connect algorithm, the two-stage approach can efficiently address the path planning problem for general redundant manipulators. The algorithm has been implemented and several 2D and 3D experiments demonstrate the effectiveness of the method." @default.
- W2160082631 created "2016-06-24" @default.
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- W2160082631 date "2009-12-01" @default.
- W2160082631 modified "2023-09-23" @default.
- W2160082631 title "Path planning for redundant manipulator without explicit inverse kinematics solution" @default.
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- W2160082631 doi "https://doi.org/10.1109/robio.2009.5420547" @default.
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