Robot Motion Planning Based on Multi-Body Models

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The objective of this research is to develop a motion planning method for robots with many degrees of freedom in order to improve the autonomy of intelligent robots, and to reduce human operation cost and magnify the range of application. A robot and a workspace is expressed as a multi-body model, and trajectory planning of a multi-body model under several tasks with different priority levels is considered. Some basic principles of such a problem are studied and an efficient solution algorithm is proposed. Concrete topics studied during the grant period includes: treatment of non-convex constraints such as collision avoidance, scheduling of serial and parallel tasks, control of real robot based on real-time motion planning, and the development of software library for the proposed motion planning method.