Motion planning for manipulators with many degrees of freedom - the BB-method

A new approach for manipulator motion planning the BB method is intro duced A collision free path is found by incrementally modi ying an initial usually colliding path The method described alters the robot s motion in its physical workspace utilizing virtual rating functions that are based on reducing and expanding the robot s geometry model The BB method is able to plan mo tions for redundant and hyperredundant manipulators With this it stands in contrast to most other motion planning methods usually developed in an abstract con guration space Due to their complexity they are not applicable to real robot tasks The experimental experiences with the BB method prove the main thesis of this work an e cient and e ective motion planning scheme can be build upon careful examination and utilization of the spatial properties of the motion of a robot manipulator The algorithmic complexity of collision free path planning is only linear in the number of degrees of freedom and the e ective computa tional e ort is not necessarily increased for an increased number of joints The BB method is local and heuristic therefore it is an incomplete motion planning algorithm Within this work all major properties of the BB method are charac terized and analysed in detail This work is a basis for further explorations of the various properties possibil ities extensions and further developements of the BB method But nonetheless e orts were taken to identify all necessary requirements of a motion planning system and to introduce the pradigm of virtual geometry modi cation in a way all aspects can be handled The existing prototype implementation allows real time planning up to a few seconds of motions for typical six degree of freedom industrial manipulators in practical cases as well as fast planning for multiple kinematic devices with several tens of joints The planning allows the assertion of safety distances to handle control and modelling uncertainties and a local length reduction of the path yielding motions that require less time and less energy if they are executed in reality

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