A novel task-space based motion planning method for redundant manipulators with trap detection

被引：0
作者：
Qian, Cheng [1 ]
Zhang, Botao [1 ,2 ]
Jiang, Xuping [2 ]
Zhong, Chaoliang [1 ,2 ]
Lu, Qiang [1 ,2 ]
机构：
[1] Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Peoples R China
[2] Int Joint Res Lab Autonomous Robot Syst, Hangzhou 310018, Peoples R China
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2025年 / 39卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Robotic systems; Motion planning; Redundant manipulator; Heuristic search; Kinematics analysis; OPTIMIZATION;
D O I：
10.1007/s12206-025-0130-8
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Most heuristic approaches for redundant manipulators provide reliable theoretical assurance such as completeness and bounds on sub-optimality. However, dealing with the high-dimensional planning problem in the task space by heuristic search is still challenging. On the one hand, the path planning of some redundant manipulators occasionally falls into traps, which could lead to planning failure. Besides, occasional discontinuous jumps in the joint space paths may cause a collision between a manipulator and surrounding obstacles. Therefore, a heuristic search-based motion planning method is proposed to solve this problem, in which a trap detection algorithm is employed to check the effectiveness of joint space paths, and a predecessor detection algorithm is designed to prevent joint paths from jumping. Experimental results show that the proposed motion planning method could generate consistent, low-cost motion trajectories and deal with the problem of cluttered spatial path planning.
引用
收藏
页码：877 / 890
页数：14
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