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Robot Manipulator Motion Planning for Fast Path : Shortening and Higher Manipulability

Title
Robot Manipulator Motion Planning for Fast Path : Shortening and Higher Manipulability
Authors
Hyuntae Lee
DGIST Authors
Lee, Hyuntae; Park, Kyung-JoonKim, Kyoung-Dae
Advisor(s)
김경대
Co-Advisor(s)
Kyung-Joon Park
Issue Date
2020
Available Date
2020-06-23
Degree 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
DOI
10.22677/Theses.200000282368
Degree
Master
Department
Information and Communication Engineering
University
DGIST
Related Researcher
Files:
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Collection:
Department of Information and Communication EngineeringThesesMaster


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