Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
International Journal of Robotics Research
Randomized query processing in robot path planning
STOC '95 Proceedings of the twenty-seventh annual ACM symposium on Theory of computing
Robot Motion Planning
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Ideals, Varieties, and Algorithms: An Introduction to Computational Algebraic Geometry and Commutative Algebra, 3/e (Undergraduate Texts in Mathematics)
Planning Algorithms
Journal of Artificial Intelligence Research
Development of an optimal trajectory model for spray painting on a free surface
Computers and Industrial Engineering
Elastic roadmaps--motion generation for autonomous mobile manipulation
Autonomous Robots
Global path planning for robust visual servoing in complex environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Global manipulation planning in robot joint space with task constraints
IEEE Transactions on Robotics
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In this paper, we address the path planning problem with general end-effector constraints (PPGEC) for robot manipulators. Two approaches are proposed. The first approach is the Adapted-RGD method, which is adapted from an existing randomized gradient descent (RGD) method for closed-chain robots. The second approach is radically different. We call it ATACE, Alternate Task-space And Configuration-space Exploration. Unlike the first approach which searches purely in C-space, ATACE works in both task space and C-space. It explores the task space for end-effector paths satisfying given constraints, and utilizes trajectory tracking technique(s) as a local planner(s) to track these paths in the configuration space. We have implemented both approaches and compared their relative performances in different scenarios. ATACE outperforms Adapted-RGD in the majority (but not all) of the scenarios. We outline intuitive explanations for the relative performances of these two approaches.