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Exploring a Novel Multiple-Query Resistive Grid-Based Planning Method Applied to High-DOF Robotic Manipulators.

Jesus Huerta-Chua1, Gerardo Diaz-Arango1,2, Hector Vazquez-Leal2,3

  • 1Instituto Tecnologico Superior de Poza Rica, Tecnologico Nacional de Mexico, Luis Donaldo Colosio Murrieta S/N, Arroyo del Maiz, Poza Rica, Veracruz 93230, Mexico.

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Summary
This summary is machine-generated.

This study introduces an improved path planning method for high-degree-of-freedom (DOF) robotic manipulators, enabling efficient collision-free trajectory generation in complex, obstacle-rich environments. The novel approach significantly reduces computation time for multiple path queries, enhancing automation capabilities.

Keywords:
high-DOF robot manipulatorindustrial robotlarge sparse matrixmultiple-query plannerobstacle avoidancepath planningresistive grid

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Area of Science:

  • Robotics and Automation
  • Artificial Intelligence
  • Path Planning Algorithms

Background:

  • Path planning for high-degree-of-freedom (DOF) robotic manipulators is crucial for industrial, space, surgical, and pharmaceutical applications.
  • Existing methods, like demonstration, struggle with complex environments containing numerous obstacles and high manipulator redundancy.
  • The need for efficient, automated collision-free path planning is driven by the limitations of manual intervention and simpler planning strategies.

Purpose of the Study:

  • To present a novel multiple-query path planning method for high-DOF robotic manipulators.
  • To address the challenges of planning collision-free trajectories in environments with multiple obstacles.
  • To enhance the efficiency and applicability of path planning for complex robotic tasks.

Main Methods:

  • Development of a multiple-query planner inspired by the resistive grid-based planner method (RGBPM).
  • Implementation of improvements to handle complex planning problems and large sparse matrices.
  • Recycling previous simulation strategies to convert the RGBPM into a multiple-query planner.

Main Results:

  • The proposed method successfully generates collision-free paths for manipulators with 3, 5, and 6 DOFs in environments with numerous obstacles.
  • The planner demonstrates rapid computation of new paths, with queries taking less than 0.2 seconds for 3 DOF and under 30 seconds for 5 and 6 DOF manipulators.
  • Validation through numerical simulations and a case study using a KUKA LBR iiwa 14R820 manipulator in a complex environment confirmed the method's efficacy.

Conclusions:

  • The novel multiple-query path planning strategy is effective for high-DOF robotic manipulators in complex, obstacle-laden environments.
  • The method offers significant improvements in computational speed for subsequent path queries.
  • This advancement facilitates greater automation and applicability of robotic manipulators in demanding industrial and specialized sectors.