IntroductiontoRobotMotionPlanning.pptVIP

Introduction to Robot Motion Planning Example A robot arm is to build an assembly from a set of parts. Tasks for the robot: Grasping: position gripper on object design a path to this position Trasferring: determine geometry path for arm avoide obstacles + clearance Positioning Information required Knowledge of spatial arrangement of wkspace. E.g., location of obstacles Full knowledge full motion planning Partial knowledge combine planning and execution motion planning = collection of problems Basic Problem A simplified version of the problem assum