Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Robot path planning: an object-oriented approach
KTH, Superseded Departments, Signals, Sensors and Systems.
2004 (English)Doctoral thesis, monograph (Other scientific)
Abstract [en]

Path planning has important applications in many areas, for example industrial robotics, autonomous systems, virtual prototyping, and computer-aided drug design. This thesis presents a new framework for developing and evaluating path planning algorithms. The framework is named CoPP (Components for Path Planning). It consists of loosely coupled and reusable components that are useful for building path planning applications. The framework is especially designed to make it easy to do fair comparisons between different path planning algorithms.

CoPP is also designed to allow almost any user-defined moving system. The default type of moving system is a robot class, which is capable of describing tree-like kinematic chains. Additional features of this robot class are: joint couplings, numerical or closed-form inverse kinematics, and hierarchical robot representations. The last feature is useful when planning for complex systems like a mobile platform equipped with an arm and a hand.

During the last six years, Rapidly-exploring Random Trees (RRTs) have become a popular framework for developing randomized path planning algorithms. This thesis presents a method for augmenting bidirectional RRT-planners with local trees. For problems where the solution trajectory has to pass through several narrow passages, local trees help to reduce the required planning time.

To reduce the work needed for programming of industrial robots, it is desirable to allow task specifications at a very high level, leaving it up to the robot system to figure out what to do. Here we present a fast and flexible pick-and-place planner. Given an object that has to be moved to another position, the planner chooses a suitable grasp of the object and finds motions that bring the object to the desired position. The planner can also handle constraints on, e.g., the orientation of the manipulated object.

For planning of pick-and-place tasks it is necessary to choose a grasp suitable to the task. Unless the grasp is given, some sort of grasp planning has to be performed. This thesis presents a fast grasp planner for a three- fingered robot hand. The grasp planner could be used in an industrial setting, where a robot is to pick up irregularly shaped objects from a conveyor belt. In conjunction with grasp planning, a new method for evaluating grasp stability is presented.

Place, publisher, year, edition, pages
Stockholm: Signaler, sensorer och system , 2004. , p. x, 244
Series
Trita-S3-REG., ISSN 1404-2150 ; 0401
Keywords [en]
Signalbehandling, mathematics, computer science
Keywords [sv]
Signalbehandling
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-18ISBN: 91-7283-868-X (print)OAI: oai:DiVA.org:kth-18DiVA, id: diva2:7803
Public defence
2004-10-11, Kollegiesalen, KTHs adm byggnad, Valhallavägen 79, Stockholm, 10:00
Opponent
Supervisors
Available from: 2004-10-11 Created: 2004-10-11 Last updated: 2012-03-21

Open Access in DiVA

fulltext(3387 kB)5736 downloads
File information
File name FULLTEXT01.pdfFile size 3387 kBChecksum SHA-1
94d4f01483d709b36f946dd457553fbd0b5fede45a29792fd4a748f55e026599f63a6ef7
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Strandberg, Morten
By organisation
Signals, Sensors and Systems
Signal Processing

Search outside of DiVA

GoogleGoogle Scholar
Total: 5736 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
Total: 1487 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf