This paper presents the construction of the artificial potential field based on discrete solution to the Laplace equation (Laplacian Artificial Potential Field, LAPF), for path planning of robotic manipulators in two-dimensional and three-dimensional representations of the configuration space (C-space). In general, the characterization of the manipulator´s workspace using the LAPF derives in obtaining a local minima space free when considering the combination of the manipulator's goal (position / orientation) as an attractive potential while obstacles are modeled as repulsive potentials.In addition it is shown the construction of three-dimensional configurations space, for a three-degree of freedom planar manipulator, with different arrangements stationary obstacles, of punctual type and bar type. In order to show the complexity of the space planning into the configuration space, as a result of the mapping of the obstacles within the manipulator's workspace not homogeneous to their representation in the joint's space.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    The Laplacian Artificial Potential Field (LAPF) for the Path Planning of Robotic Manipulators


    Beteiligte:
    Ramirez-Gordillo, (Autor:in) / J., (Autor:in) / Merchán-Cruz, (Autor:in) / E.A., (Autor:in) / Lugo-González, (Autor:in) / E., (Autor:in) / Ponce-Reynoso, (Autor:in) / R., (Autor:in) / Rodíguez-Cañizo, (Autor:in) / R.G., (Autor:in)


    Erscheinungsdatum :

    01.09.2008


    Format / Umfang :

    682734 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators Based on Navigation Functions

    Soodmand, Iman / Kebbach, Maeruan / Herrmann, Sven et al. | Springer Verlag | 2022



    Adaptive Goal-Biased Bi-RRT for Online Path Planning of Robotic Manipulators

    Fu, Letian / Lin, Xiaoben / Lou, Yunjiang | TIBKAT | 2023


    Adaptive Goal-Biased Bi-RRT for Online Path Planning of Robotic Manipulators

    Fu, Letian / Lin, Xiaoben / Lou, Yunjiang | Springer Verlag | 2023


    Automated Path and Trajectory Planning for Space Robotic Manipulators and Mobile Robots

    Sallaberger, C. S. / D'Eleuterio, G. M. T. / Canadian Aeronautics and Space Institute | British Library Conference Proceedings | 1992