학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2013. 2. 박종우. ; In this thesis we introduce an algorithm for motion planning on disconnected manifolds. Constraint manifolds can be disconnected if, for example, both task constraints and obstacles are present in the task space. Our proposed algorithm uses sampling-based motion planning on a foliation structure that consists of parallel submanifolds of lower dimension. Some case studies are performed to evaluate the performance of our proposed algorithm. ; Abstract iii List of Tables vii List of Figures viii 1 Introduction 1 2 Planning on Disconnected Manifolds 4 2.1 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.1.1 Task Space and Conguration Space . . . . . . . . 4 2.1.2 Task Constraints . . . . . . . . . . . . . . . . . . . . . . . . 5 2.1.3 Foliation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.2 Problem Denition . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.3 Proposed Algorithm . . . . . . . . . . . . . . . . . . . . . . . 8 2.3.1 Extension in Task Space . . . . . . . . . . . . . . . . . . 10 2.3.2 Decision Whether to Proceed or to Jump . . . . . . 11 2.3.3 Projection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.3.4 Line Segment . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 3 Case Studies 15 3.1 3 DOF Planar Manipulator . . . . . . . . . . . . . . . . . . . .16 3.2 6 DOF Spatial Manipulator 1 . . . . . . . . . . . . . . . . . . 17 3.3 6 DOF Spatial Manipulator 2 . . . . . . . . . . . . . . . . . . 17 4 Conclusion 24 Bibliography 26 국문초록 28 ; Master
Motion Planning on Disconnected Manifolds: Manipulation under Task and Obstacle Constraints ; 불연속 다양체에서의 동작 계획
2013-01-01
Theses
Electronic Resource
English
DDC: | 629 |
Obstacle Accommodation Motion Planning
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