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Operation of the Collaborative Composite Manufacturing CCM System

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Improved Distorted Configuration Space Path Planning and its Application to Robot Manipulators.

Yangmin Xie¹, Rui Zhou¹, Yusheng Yang¹

¹School of Mechatronics Engineering and Automation, Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China.

Sensors (Basel, Switzerland)

|October 29, 2020

Summary

This study introduces an improved distorted configuration space (IDCS) method for robot path planning, enhancing efficiency and path optimization. The IDCS method significantly outperforms traditional approaches in cluttered environments.

Keywords:

distorted configuration space obstacle avoidance path planning robot manipulator

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Area of Science:

Robotics
Artificial Intelligence
Computational Geometry

Background:

Real-time obstacle avoidance path planning is crucial for robots in complex environments.
High-degree-of-freedom robots face computational challenges in path planning.
Existing methods like distorted configuration space (DC-space) show efficiency but lack practical features.

Purpose of the Study:

To address limitations of the original DC-space method for practical robot manipulator path planning.
To develop an improved distorted configuration space (IDCS) method for efficient and optimized path planning.
To evaluate the performance of the IDCS method against traditional algorithms.

Main Methods:

Proposed an improved distorted configuration space (IDCS) method addressing automatic planning, convex space preservation, and path optimization.
Applied and examined the IDCS method on a three degrees of freedom (DOF) robot.
Compared IDCS with the Rapidly-exploring Random Tree (RRT) method.

Main Results:

The IDCS method demonstrated effectiveness in rapidly finding obstacle-free paths.
An optimized IDCS method was presented to shorten generated paths.
Experiments showed IDCS offers advantages in computation time and path length compared to RRT.

Conclusions:

The proposed IDCS method is a practical and efficient solution for robot path planning in cluttered workspaces.
IDCS improves upon the original DC-space method, making it suitable for robot manipulators.
The optimized IDCS method provides a balance between speed and path quality.