Fast motion planning for articulated robots
B. Camel, Daniel Challou, Daniel L. Boley, Maria L. Gini, Vipin Kumar · 2002
We show how to generate paths for redundant articulated robots in a few seconds or less using randomized search on multicomputers. We present experimental results obtained for an accurate model of a 7-jointed manipulator arm operating in realistic 3D workspaces. We then present and discuss a fast method for smoothing the paths delivered by the parallel algorithm.>