Abstract
This letter provides a comparative analysis of common strategies for sampling-based motion planning of fully actuated closed kinematic chains with revolute joints. Three strategies are reviewed: singularity sampling, swapping between the possible passive chains while using the active-passive chains kinematic approach, and using Newton-Raphson projections. The strategies are compared using analytical and empirical results. Various measures, such as sampling time and visibility, are used to analyze the strategies in several dual-arm planning problems using the three different planning algorithms. This comparative analysis provides insight into the strengths and weaknesses of each sampling strategy. Results indicate that the kinematic-based passive chains swapping strategy is more preferable in environments with obstacles but harder to implement for various robotic arms.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2886-2893 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 3 |
| Issue number | 4 |
| DOIs | |
| State | Published - Oct 2018 |
Keywords
- Manipulation planning
- dual arm manipulation
ASJC Scopus subject areas
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence