Kinematic Graph for Motion Planning of Robotic Manipulators

We introduce a kinematic graph in this article. A kinematic graph results from structuring the data obtained from the sampling method for sampling-based motion planning algorithms in robotics with the motivation to adapt the method to the positioning problem of robotic manipulators. The term kinemat...

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Bibliographic Details
Published in:Robotics (Basel) Vol. 11; no. 5; p. 105
Main Authors: Corves, Burkhard, Shahidi, Amir
Format: Journal Article
Language:English
Published: Basel MDPI AG 01.10.2022
Subjects:
Algorithms
Boolean
Clustering
Control systems
heuristic search
Hypotheses
Kinematics
Manipulators
Motion
Motion planning
open-chain mechanisms
Performance evaluation
Planning
Robot arms
robotic manipulators
Robotics
Robots
Sampling methods
sampling-based motion planning algorithms
Germany
ISSN:2218-6581, 2218-6581
Online Access:Get full text
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Summary:We introduce a kinematic graph in this article. A kinematic graph results from structuring the data obtained from the sampling method for sampling-based motion planning algorithms in robotics with the motivation to adapt the method to the positioning problem of robotic manipulators. The term kinematic graph emphasises the fact that any path computed by sampling-based motion planning algorithms using a kinematic graph is guaranteed to correspond to a feasible motion for the positioning of the robotic manipulator. We propose methods to combine the information from the configuration and task spaces of the robotic manipulators to cluster the samples. The kinematic graph is the result of this systematic clustering and a tremendous reduction in the size of the problem. Hence, using a kinematic graph, it is possible to effectively employ sampling-based motion planning algorithms for robotic manipulators, where the problem is defined in higher dimensions than those for which these algorithms were developed. Other barriers that hindered adequate utilisation of such algorithms for robotic manipulators with articulated arms, such as the non-injective surjection of the forward kinematic function, are also addressed in the structure of the kinematic graph.
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ISSN:2218-6581
2218-6581
DOI:10.3390/robotics11050105