We show how paths for articulated robots with many degrees of freedom can be generated in a few seconds or less using nonsystematic parallel search. We present experimental results obtained on a multicomputer 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 - IEEE International Conference on Robotics and Automation|
|State||Published - Jan 1 1995|
|Event||Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn|
Duration: May 21 1995 → May 27 1995