Quicker Path planning of a collaborative dual-arm robot using Modified BP-RRT* algorithm.
In: International Journal of Computers, Communications & Control, Jg. 19 (2024-06-01), Heft 3, S. 1-22
Online
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Zugriff:
Path-planning of an industrial robot is an important task to reduce the overall operation time. In industrial tasks, path planning is executed with lead-through programming, where in most cases the robot faces singulated object configurations. Cluttered environments demand path-planning algorithms, which are sensor driven, rather than pre-programmed. Path-planning algorithms, like RRT, and RRT* and their variants have inherent problems like the duration of a search and the creation of several node samples which may lead to longer path lengths. Back Propagation-Rapidly exploring Random Tree* (BP-RRT*) algorithm was a leap forward when an obstacle is enveloped with a sphere. Due to the spherical envelope of the obstacle, this method evaluates the connection between the path and obstacle in space with a spherical envelope using the triangular function and identifies the non-collision path in 3D space. This predicts the best non-collision path in the 3D workspace. The current state-of-the-art of BP-RRT* is limited to single-arm robots. A collaborative dual-arm robot faces more problems in path planning than a single-arm robot like inter-collision of manipulator arms apart from avoiding obstacles. A Modified BP-RRT* algorithm is proposed for the dual-arm collaborative robot has a pre-stage partition of grids that makes the computation faster, efficient, and collision-free compared to the traditional path planning algorithms namely RRT, RRT*, Improved RRT* and BP-RRT*. The algorithm is implemented in simulation as well as in physical implementation for ABB YuMi dual-arm collaborative robot and the typical length of the path of the proposed modified BP-RRT* method has reduced by 53.8% from the traditional RRT method, 6.95% from the RRT* method, 7.77% from improved RRT* method and 6.83% from the BP-RRT* method. Also, the average time to grasp has reduced by 17.84%, the typical duration for search has decreased by 33.45%, the number of node samples created has reduced by 14.79% from BP-RRT* algorithm. [ABSTRACT FROM AUTHOR]
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Titel: |
Quicker Path planning of a collaborative dual-arm robot using Modified BP-RRT* algorithm.
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Autor/in / Beteiligte Person: | A., Josin Hippolitus ; R., Senthilnathan |
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Zeitschrift: | International Journal of Computers, Communications & Control, Jg. 19 (2024-06-01), Heft 3, S. 1-22 |
Veröffentlichung: | 2024 |
Medientyp: | academicJournal |
ISSN: | 1841-9836 (print) |
DOI: | 10.15837/ijccc.2024.3.6379 |
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