Title

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

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

Citation

Hyuntae Lee. (2020). Robot Manipulator Motion Planning for Fast Path : Shortening and Higher Manipulability. doi: 10.22677/Theses.200000282368

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

Publisher

DGIST

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