Advanced modern humanoid robots often have complex manipulators with a large number of degrees of freedom. Thus, motion planning for such manipulators is a very computationally challenging problem. However, often robotic manipulators allow the wrist degrees of freedom to be controlled independently from the configuration of the rest of the arm. In this paper we show how to split the high dimensional planning problem into two lower-dimensional sub-problems — planning for the main arm joints and planning for the wrist joints, without losing guarantees on completeness. This approach is an extension of our previously developed framework for planning with adaptive dimensionality. Experimentally, we show that this approach is very effective in speeding up planning for robotic arms on Willow Garage's PR2 platform. We compare our algorithm with several popular alternative approaches for performing motion planning for robotic arms. The results we observe illustrate that our algorithm provides a good balance between planning time, planning success rate, path consistency, and path quality.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Motion planning for robotic manipulators with independent wrist joints


    Contributors:


    Publication date :

    2014-05-01


    Size :

    960727 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Kinematically Adapted Sampling-Based Motion Planning Algorithm for Robotic Manipulators

    Shahidi, Amir / Kinzig, Thomas / Hüsing, Mathias et al. | Springer Verlag | 2022


    Motion planning and control of robotic manipulators on seaborne platforms

    From, Paal J. / Gravdahl, Jan T. / Lillehagen, Tommy et al. | Tema Archive | 2011



    Constrained motion task control of robotic manipulators

    Mills, James K. | Online Contents | 1994


    Motion control of non-fixed base robotic manipulators

    Carter, F.M. / Cherchas, D.B. | Tema Archive | 1999