Robot Manipulator Motion Planning for Fast Path : Shortening and Higher Manipulability
- Title
- Robot Manipulator Motion Planning for Fast Path : Shortening and Higher Manipulability
- Author(s)
- Hyuntae Lee
- DGIST Authors
- Park, Kyung-Joon ; Lee, Hyuntae ; Kim, Kyoung-Dae
- Advisor
- 김경대
- Co-Advisor(s)
- Kyung-Joon Park
- Issued Date
- 2020
- Awarded Date
- 2020-02
- Type
- Thesis
- Description
- "Sampling-based Motion Planning", "Dynamic Roadmap", "Manipulability", "Shortcut-based Algorithm", "Parallelism"
- Table Of Contents
-
Ⅰ. Introduction 1
II. Manipulability-aware Motion Planning for Robot Manipulator in Dynamic Roadmap
2.1 Introduction 2
2.2 Background 3
2.2.1 Sampling-based Motion Planning 3
2.2.2 Dynamic Roadmap 4
2.2.3 Manipulability Measure 5
2.3 Manipulability-aware DRM 6
2.4 Simulations 8
2.5 Conclusion 11
III. A Parallelization Framework for Real-time Path Shortening of High-DOFs Manipulator
3.1 Introduction 12
3.2 Background 13
3.3 Parallelization Framework for Fast Path Shortening 16
3.3.1 Limitations of APSC Algorithm 16
3.3.2 Parallelization Framework for Fast Path Shortening 18
3.4 Simulations 21
3.4.1 Setup 21
3.4.2 Results 23
3.5 Conclusion 32
IV. Summary 33
References 34
요약문 38
- URI
-
http://dgist.dcollection.net/common/orgView/200000282368
http://hdl.handle.net/20.500.11750/12019
- Degree
- Master
- Department
- Information and Communication Engineering
- Publisher
- DGIST
- Related Researcher
-
-
Park, Kyung-Joon
- Research Interests Cyber-Physical Systems; Robot Operating System (ROS); Smart Manufacturing
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- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- Department of Electrical Engineering and Computer Science Theses Master
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