Project Title:
Kinematic Path Planning for Redundant Manipulators using a Path
Space Approach
94-1 05.03 5355
Kinematic Path Planning for Redundant Manipulators using a Path
Space Approach
Abstract:
Intelligent robotic systems for future space exploration will
rely heavily on. autonomous and semi- autonomous motion planning
for task completion. Communication time delays render
teleoperation of manipulators infeasible over the large distances
expected between operators and remote sites. We propose a general
and versatile kinematic path planner using a novel path space
approach. The planning problem, posed as a finite-time nonlinear
control problem, is transformed into a static root- finding
problem and iteratively solved. Optimality can be incorporated as
a secondary criterion. Compared to existing approaches, this
method is less prone to problems such as arm singularities and
local minima of potential fields. Unlike many search-based
methods, it does not rely on the construction of a collision-free
search space, which can become prohibitively large for many
degrees-of- freedom. In contrast with existing autonomous
techniques, our approach is designed to be compatible with a
supervisory layer, either human or artificial intelligence based.
Phase I will develop this technique to solve current and future
robotic path planning scenarios for space missions, such as ORU
changeout tasks, orbiter tile inspection, and space structure
assembly and maintenance.
The anticipated result of this effort is a general and versatile
path planner, applicable to a wide range of robotic tasks, such
as welding/assembly of automobile structures, automated
manufacturing systems, material handling in hazardous
environments such as nuclear site cleanup, undersea operations,
etc. Our approach also addresses the motion planning problem for
non-holonomic systems. Potential applications include articulated
wheeled vehicles (eg. tractors with multiple trailers). This
technology will be invaluable to the development of intelligent
vehicle systems for the emerging IVHS market.
Key Words
Scientific Systems Company, Inc.
500 West Cummings Park, Suite 3950
Woburn, MA 01801-6336