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Motion planning

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A motion-planning problem is defined by kinematic description of a simulated device (a manipulator, a robot), its environment (obstacles, disrupting device motion), as well as its original and target configurations.

A solution to a motion-planning problem is permissible path from the original to the target configuration, free from collisions. The environment is described by a geometry model, which gives the form and position of all obstacles. The device is also described by a geometry model – a set of relocated bodies, linked by kinematic joints. A modern approach to motion planning is to use random-search algorithms on the roadmap. The roadmap is a graph, each node of which is a point in configuration space, describing the position of the device that is not in contact with the obstacles, and аn edge is a path free from collision. A motion-planning problem plays an important role in the applications for digital manufacturing - Manufacturing Product Management (MPM), when it is necessary to plan motion of robots and personnel in the manufacturing workshop.

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