Global Manipulation Planning in Robot Joint Space With Task Constraints

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Title: Global Manipulation Planning in Robot Joint Space With Task Constraints
Author: Stilman, Mike
Abstract: We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained motion for joint space planners and develops two simple and efficient methods for constrained sampling of joint configurations: Tangent Space Sampling (TS) and First-Order Retraction (FR). FR is formally proven to provide global sampling for linear task space transformations. Constrained joint space planning is important for many real world problems involving redundant manipulators. On the one hand, tasks are designated in work space coordinates: rotating doors about fixed axes, sliding drawers along fixed trajectories or holding objects level during transport. On the other, joint space planning gives alternative paths that use redundant degrees of freedom to avoid obstacles or satisfy additional goals while performing a task. We demonstrate that our methods are faster and more invariant to parameter choices than existing techniques.
Description: © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Stilman, M.; "Global Manipulation Planning in Robot Joint Space With Task Constraints," Robotics, IEEE Transactions on , vol.26, no.3, pp.576-584, June 2010 doi: 10.1109/TRO.2010.2044949 URL:
Type: Article
ISSN: 1552-3098
Citation: M. Stilman Global Manipulation Planning in Robot Joint Space With Task Constraints. IEEE Transactions on Robotics, 26(3):576-584, June 2010.
Date: 2010-06
Contributor: Georgia Institute of Technology. College of Computing
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Robots
Joint space planning
Task constraints

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