C-Space Compression for Robots Motion Planning

Abstract

Exact motion planning for hyper-redundant robots under complex constraints is computationally intractable. This paper does not deal with the optimization of motion planning algorithms, but rather with the simplification of the configuration space presented to the algorithms. We aim to reduce the configuration space so that the robot's embedded motion planning system will be able to store and access an otherwise immense data file. We use a n-DCT compression algorithm together with a Genetic based compression algorithm, in order to reduce the complexity of motion planning computations and reduce the need for memory. We exemplify our algorithm on a hyperredundant worm-like climbing robot with six degrees of freedom (DOF).

Multi-channel monitoring data compression method for industrial robot based on compressed sensing

“…The existing robot data compression techniques are mainly applied in the fields of image compression [5][6][7][8], communication [9,10], and synchronous positioning and trajectory planning [11] for other kinds of robots such as mobile robots and medical robots. Besides, some scholars have also achieved compression by changing the coding method [12] and reducing the number of instructions [13].…”

Virtual Velocity Vector-Based Offline Collision-Free Path Planning of Industrial Robotic Manipulator

“…An alternative method for collision avoidance of manipulators is to transform obstacles from task space to configuration space (C-space) and then to map a valid path within the configuration space. This method is generally utilized with robot arms rather than mobile robots, such as planner articulated manipulators [6][7][8] or three-DoF [9]/six-DoF robot arm [10] avoiding fixed obstacles, and collision-free path planning between articulated robot arms [8,11].…”

“…The full construction of high-dimensional configuration space such as a six-DoF manipulator is complex and expensive, with complexity rising exponentially due to the increase of DoFs. Efficiency improvement of the C-space algorithm is researched in [6,9]. Finally, industrial robot arms equipped in manufacturing plants generally execute predefined repetitive motion in fixed tact time, and the manufacturing requirements of working speed, positioning accuracy and smoothness of movement need to be fulfilled.…”

“…The full construction of high-dimensional configuration space such as a six-DoF manipulator is complex and expensive, with complexity rising exponentially due to the increase of DoFs. Efficiency improvement of the C-space algorithm is researched in [6, 9], Finally, industrial robot arms equipped in manufacturing plants generally execute predefined repetitive motion in fixed tact time, and the manufacturing requirements of working speed, positioning accuracy and smoothness of movement need to be fulfilled. The force-actuated potential field-based method needs to deploy the torque control mode of joint motors when it is applied on articulated manipulators [12, 13, 16, 17], but the accuracy of torque control mode highly relies on the accuracy of the dynamics equation – this is difficult to achieve with industrial manipulators working in severe environments.…”

A real-time motion planning algorithm for a hyper-redundant set of mechanisms

“…In order to tackle the elapsed time problem, one may alternatively attempt not to optimize the motion planning algorithms, but to simplify the configuration space. In other words, it is possible to reduce the configuration space by severe compression (see Medina et al 15 ) so that a robot's embedded motion planning system will be capable of storing and accessing an otherwise immense data file, far beyond the system's memory capacity. This issue, however, is beyond the scope of this paper.…”