K. Oh and J. P. Hwang and E. Kim and H. Lee
Path Planning of a Robot Manipulator using Retrieval RRT Strategy
25 - 28
2007
1
1
International Journal of Electrical and Computer Engineering
https://publications.waset.org/pdf/9748
https://publications.waset.org/vol/1
World Academy of Science, Engineering and Technology
This paper presents an algorithm which extends the rapidlyexploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the SVM is built and selects a proper path from the bank of RRTs for a given environment. At the second level, a real path is planned by the RRT planners for the given environment. The suggested method is applied to the control of KUKA™,, a commercial 6 DOF robot manipulator, and its feasibility and efficiency are demonstrated via the cosimulatation of MatLab™, and RecurDyn™,.
Open Science Index 1, 2007