Motion Planning of Multi-Joint Robotic Arm with Topological Dimension Reduction Method

Zhang, Bo; Zhang, Ling; Zhang, Tian

Motion Planning of Multi-Joint Robotic Arm with Topological Dimension Reduction Method

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Proceedings of the Eleventh International Joint Conference on Artificial Intelligence. Planning, Scheduling, Reasoning About Actions. Pages 1029-1033.

Abstract

This paper explores the realization of robotic arm motion planning, especially Findpatb Problem, which is a basic motion planning problem that arises in the development of robotics. Fmdpath means: Given the initial and desired final configurations of a robotic arm in 3dimeosiooal space, and given descriptions of the obstacles in the space, determine whether there is a continuous collision-free motion of the robotic arm from the one configuration to the other and find such a motion if one exists. 'Ibere are several branches of approach in motion plaming area, but in reality the imponant things are feasibility, efficiency and accuracy of the method. 1be topological method has shown great potentiality in practice compared with the others. Here a simulation system is designed to embody the topological Dimension Reduction Method (DRM) [1]-[2] and it is in sight that DRM can be adopted in the first overall planning of real robotic arm system in the near future.

Bo Zhang, Ling Zhang, and Tian Zhang. 1989. Motion Planning of Multi-Joint Robotic Arm with Topological Dimension Reduction Method. In Proceedings of the Eleventh International Joint Conference on Artificial Intelligence, IJCAI-89. IJCAI, 1029–1033. https://ijcai.org/proceedings/1989/165

@inproceedings{ijcai1989p165,
  title     = {Motion Planning of Multi-Joint Robotic Arm with Topological Dimension Reduction Method},
  author    = {Zhang, Bo and Zhang, Ling and Zhang, Tian},
  booktitle = {Proceedings of the Eleventh International Joint Conference on
               Artificial Intelligence, {IJCAI-89}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {N. S. Sridharan},
  pages     = {1029--1033},
  year      = {1989},
  month     = {8},
  note      = {Planning, Scheduling, Reasoning About Actions},
  url       = {https://ijcai.org/proceedings/1989/165},
}

TY  - CPAPER
TI  - Motion Planning of Multi-Joint Robotic Arm with Topological Dimension Reduction Method
AU  - Zhang, Bo
AU  - Zhang, Ling
AU  - Zhang, Tian
T2  - Proceedings of the Eleventh International Joint Conference on Artificial Intelligence, IJCAI-89
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1989
SP  - 1029
EP  - 1033
UR  - https://ijcai.org/proceedings/1989/165
ER  -