We show how to generate paths for redundant articulated robots in a few seconds or less using randomized search on multicomputers. We present experimental results obtained for an accurate model of a 7-jointed manipulator arm operating in realistic 3D workspaces. We then present and discuss a fast method for smoothing the paths delivered by the parallel algorithm.
|Original language||English (US)|
|Number of pages||6|
|Journal||Proceedings of the IEEE International Conference on Systems, Man and Cybernetics|
|State||Published - Dec 1 1994|
|Event||Proceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3) - San Antonio, TX, USA|
Duration: Oct 2 1994 → Oct 5 1994