Abstract of FKI-212-96

Document-Name:  fki-212-96.ps.gz
Title:          Quick Trajectory Generation for Manipulators Using
                Incremental Randomized Graph Construction
Authors:        Martin Eldracher 
                Thomas Pic
Revision-Date:  1996/01/20
Category:       Technical Report (Forschungsberichte Künstliche Intelligenz)
Abstract:       Quick trajectory generation for manipulators are a
		prerequisite for task oriented (i.e.\ only tell what to
		do, but not how) manipulator control, because e.g.\ in
		order to grasp an object, first the motion to reach
		that object must be performed. In addition, for dynamic
		environments the generation of the trajectory must be
		done very quick.  This can be achieved using a graph
		based approach. Furthermore a technique would be
		favorable, that allows to plan at least some motions
		from the beginning of the graph construction process,
		and omit long preprocessing phases. We introduce an
		approach that fulfills all the above requirements using
		random configurations for incremental graph
		construction (unless specific tasks are given). The
		graph is constructed in configuration-space of
		manipulators. Its nodes serve as subgoals and its edges
		as collision free sub-trajectories. We show the high
		performance of this approach with respect to
		preprocessing and trajectory generation time, as well
		as planning success in a realistic
                simulation of a real world manipulator task.
Keywords:       manipulators, robotics, kinematic trajectory generation,
                neural networks, graph based
Size:           10 pages
Language:       English
ISSN:           0941-6358
Copyright:      The ``Forschungsberichte Künstliche Intelligenz''
                series includes primarily preliminary publications,
                specialized partial results, and supplementary
                material. In the interest of a subsequent final
                publication these reports should not be copied. All
                rights and the responsability for the contents of the
                report are with the authors, which would appreciate
                critical comments.

Gerhard Weiss