2013 Fiscal Year Final Research Report
Robot Motion Planning Based on Multi-Body Models
| Project/Area Number |
23760224
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Nagoya University |
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Principal Investigator |
TAZAKI Yuichi 名古屋大学, 工学(系)研究科(研究院), 助教 (10547433)
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| Project Period (FY) |
2011 – 2012
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| Keywords | 動作計画 / 多自由度ロボット / マルチボディ |
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| Research Abstract |
The objective of this research is to develop a motion planning method for robots with many degrees of freedom in order to improve the autonomy of intelligent robots, and to reduce human operation cost and magnify the range of application. A robot and a workspace is expressed as a multi-body model, and trajectory planning of a multi-body model under several tasks with different priority levels is considered. Some basic principles of such a problem are studied and an efficient solution algorithm is proposed. Concrete topics studied during the grant period includes: treatment of non-convex constraints such as collision avoidance, scheduling of serial and parallel tasks, control of real robot based on real-time motion planning, and the development of software library for the proposed motion planning method.
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