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Factor-Guided Motion Planning for a Robot Arm Jaesik Choi and Eyal Amir
 

Summary: Factor-Guided Motion Planning for a Robot Arm
Jaesik Choi and Eyal Amir
Computer Science Department
University of Illinois at Urbana-Champaign
Urbana, IL 61801
{choi31,eyal}@cs.uiuc.edu
Abstract-- Motion planning for robotic arms is important for
real, physical world applications. The planning for arms with
high-degree-of-freedom (DOF) is hard because its search space
is large (exponential in the number of joints), and the links
may collide with static obstacles or other joints (self-collision).
In this paper we present a motion planning algorithm that
finds plans of motion from one arm configuration to a goal
arm configuration in 2D space assuming no self-collision. Our
algorithm is unique in two ways: (a) it utilizes the topology
of the arm and obstacles to factor the search space and
reduce the complexity of the planning problem using dynamic
programming; and (b) it takes only polynomial time in the
number of joints under some conditions. We provide a sufficient
condition for polytime motion planning for 2D-space arms:

  

Source: Amir, Eyal - Department of Computer Science, University of Illinois at Urbana-Champaign

 

Collections: Computer Technologies and Information Sciences