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System Development & Application
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App. Res. of Comp. Printed Article
Vol. 37, 2020 No. 9
2754-2757,2761

Progressive constrained extended manipulator motion planning algorithm

Chen Weia
Bai Keqiangb
Li Fuyangb
Liu Zhiguia,b
a. School of Computer Science & Technology, b. School of Information Engineering, Southwest University of Science & Technology, Mianyang Sichuan 621010, China
DOI: 10.19734/j.issn.1001-3695.2019.05.0139

Abstract

In order to ensure the path continuity of redundant manipulators with constrained motion planning, this paper proposed a rapidly exploring random trees algorithm with progressive constraint extension(PCE-RRT) for the constrained failure and path failure problems of direct interpolation and continuous interpolation. The algorithm introduced a progressive constrained extension method when performing tree expansion, which used the inverse kinematics method with the nearest point information, iteratively shortened the distance between the nearest point and the extended point while ensuring the task constraint, so that each extension could guarantee the constraint and continuity of the tree. PCE-RRT could make the final tree fit well into the constrained manifold subspace, and any two connected nodes in the search tree could satisfy the continuous condition. The simulation experiments verify the validity of the algorithm, and the results show that the proposed algorithm can provide a path solution that satisfied the constraints and continuity conditions for the manipulator constrained motion planning problem.

Foundation Support

四川省研究生教育改革创新项目(14JGCX01)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.05.0139
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 9
Section: System Development & Application
Pages: 2754-2757,2761
Serial Number: 1001-3695(2020)09-038-2754-04

Publish History

[2020-09-05] Printed Article

Cite This Article

陈伟, 白克强, 李孚洋, 等. 渐进式约束扩展的机械臂运动规划算法 [J]. 计算机应用研究, 2020, 37 (9): 2754-2757,2761. (Chen Wei, Bai Keqiang, Li Fuyang, et al. Progressive constrained extended manipulator motion planning algorithm [J]. Application Research of Computers, 2020, 37 (9): 2754-2757,2761. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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