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Sampling-based path planning to cartesian goal positions for a mobile manipulator exploiting kinematic redundancy

: Seybold, R.; Frese, Christian; Zube, Angelika

Verl, Alexander (Chairman, Tagungspräsident); Dragan, Mihai (Programmkomitee); Hägele, Martin (Programmkomitee) ; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-; Informationstechnische Gesellschaft -ITG-; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart:
47th International Symposium on Robotics 2016 : Robotics in the Era of Digitalization. June 21-22, 2016, Munich, Germany
Berlin: VDE-Verlag, 2016
ISBN: 978-3-8007-4231-8
International Symposium on Robotics (ISR) <47, 2016, München>
Fraunhofer IOSB ()

A robot path planner is presented which integrates both collision-free path planning and finding an inverse kinematics solution in a single search stage. Thereby the degrees of freedom resulting from redundant robot kinematics with regard to goal positions specified in the Cartesian workspace are used to optimize the path length, whereas the usual two-stage approach of decoupled inverse kinematics computation and path planning in the configuration space fails to exploit this potential. In addition to sampling-based exploration of the configuration space, the proposed algorithm uses a computationally efficient gradient descent method for approaching the Cartesian goal pose. Furthermore, the planner is extended by the possibility to respect end-effector path orientation constraints. A detailed evaluation of the planning performance in comparison with a two-stage planner is presented.