Sensor-based roadmaps for motion planning for articulated robots in unknown environments: some experiments with an eye-in-hand system
Sensor-based roadmaps for motion planning for articulated robots in unknown environments: some experiments with an eye-in-hand system
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基于传感器的未知环境中铰接式机器人运动规划路线图：一些手眼系统实验
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发表时间：
1999
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通讯作者：
K. Gupta
中科院分区：
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作者：
Yong Yu;K. Gupta
提出了一种基于传感器的关节机械臂无碰撞运动规划“手眼”实验系统。该系统由一台PUMA 560组成，手腕上安装了一个基于三角测量的区域扫描激光测距仪(眼睛)。我们的规划方法的框架在Yu和Gupta(1998)中提出。它的灵感来自于运动规划研究，并逐步构建了一个路线图，表示自由配置空间的连接性，因为它感知物理环境。我们给出了基于传感器的规划器在这个真实的试验台上运行的一些实验结果。机器人是在完全未知和混乱的环境中启动的。通常，规划者能够在大约7-25次扫描(取决于场景的复杂性)内达到目标配置(当它感觉到时进行规划)，同时在整个过程中避免与障碍物碰撞。
We present a real implemented "eye-in-hand" test-bed system for sensor-based collision-free motion planning for articulated robot arms. The system consists of a PUMA 560 with a triangulation based area-scan laser range finder (the eye) mounted on its wrist. The framework for our planning approach was presented in Yu and Gupta (1998). It is inspired by motion planning research and incrementally builds a roadmap that represents the connectivity of the free configuration space, as it senses the physical environment. We present some experimental results with our sensor-based planner running on this real test-bed. The robot is started in completely unknown and cluttered environments. Typically, the planner is able to reach (planning as it senses) the goal configuration in about 7-25 scans (depending on the scene complexity), while avoiding collisions with the obstacles throughout.