Two arm robot path planning in a static environment using polytopes and string stretchingThe two arm robot path planning problem has been analyzed and reduced into components to be simplified. This thesis examines one component in which two Puma-560 robot arms are simultaneously holding a single object. The problem is to find a path between two points around obstacles which is relatively fast and minimizes the distance. The thesis involves creating a structure on which to form an advanced path planning algorithm which could ideally find the optimum path. An actual path planning method is implemented which is simple though effective in most common situations. Given the limits of computer technology, a 'good' path is currently found. Objects in the workspace are modeled with polytopes. These are used because they can be used for rapid collision detection and still provide a representation which is adequate for path planning.
Document ID
19930074187
Acquisition Source
Legacy CDMS
Document Type
Thesis/Dissertation
Authors
Schima, Francis J., III (Rensselaer Polytechnic Inst. Troy, NY, United States)