@inproceedings{191c3ce276d54c31bf79e2882cbcea46,
title = "Inverse Kinematics and Probabilistic Constrained Motion Planning for Modular Redundant Manipulators",
abstract = "This paper designs a modular redundant manipulator to solve the safety problem in complex working environment, and the research on the obstacle avoidance motion planning method of the manipulator is carried out. In order to prove the rationality of the design of the manipulator and simplify the development of the controller, we first analyze the forward and inverse kinematics of the manipulator, determine its D-H parameters, and solve the inverse kinematics of the manipulator using the IKFast algorithm based on the analytical solution. Then we propose a manipulator motion planning method based on probability-constrained GB-RRT∗(Goal-Bias RRT∗). Finally, the inverse kinematics algorithm and improved motion planning algorithm of the manipulator are simulated in ROS.",
keywords = "Gb-RRT, ROS, inverse kinematics, motion planning, redundant manipulator",
author = "Renzheng Zhang and Guodong Chen and Zheng Wang and Zhenhua Wang and Lining Sun",
note = "Publisher Copyright: {\textcopyright} 2020 ACM.; 4th International Conference on Innovation in Artificial Intelligence, ICIAI 2020 ; Conference date: 08-05-2020 Through 11-05-2020",
year = "2020",
month = may,
day = "8",
doi = "10.1145/3390557.3394292",
language = "英语",
series = "ACM International Conference Proceeding Series",
publisher = "Association for Computing Machinery ",
pages = "211--215",
booktitle = "Proceedings of the 2020 4th International Conference on Innovation in Artificial Intelligence, ICIAI 2020",
address = "美国",
}