Motion planning of a robotic arm on a wheeled vehicle on a rugged terrain

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Description

This paper presents a set of motion planners for an exploration vehicle on a simulated rugged terrain. The vehicle has four wheels for its movement and a robotic arm mounted on the vehicle for object manipulation. Given a target point to reach with the hand of the arm, our planners first compute a path for the vehicle to the vicinity of the target, then compute an optimal vehicle position from which the arm can reach the target point, and then plans a path for the arm to reach the target. The vehicle path is planned in two stages. A rough ... continued below

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7 p.

Creation Information

Hwang, Yong K. March 1, 1996.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 30 times . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

This paper presents a set of motion planners for an exploration vehicle on a simulated rugged terrain. The vehicle has four wheels for its movement and a robotic arm mounted on the vehicle for object manipulation. Given a target point to reach with the hand of the arm, our planners first compute a path for the vehicle to the vicinity of the target, then compute an optimal vehicle position from which the arm can reach the target point, and then plans a path for the arm to reach the target. The vehicle path is planned in two stages. A rough path is planned considering only global features of the terrain, and the path is modified by a local planner to avoid more detailed features of the terrain. The planners are expected to increase the autonomy of robots and improve the efficiencies of exploration missions.

Physical Description

7 p.

Notes

OSTI as DE96007057

Source

  • Robotics for challenging environments, Albuquerque, NM (United States), 1-6 Jun 1996

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  • Other: DE96007057
  • Report No.: SAND--96-0695C
  • Report No.: CONF-9606123--2
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 220590
  • Archival Resource Key: ark:/67531/metadc672432

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • March 1, 1996

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

Description Last Updated

  • April 13, 2016, 3:07 p.m.

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Hwang, Yong K. Motion planning of a robotic arm on a wheeled vehicle on a rugged terrain, article, March 1, 1996; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc672432/: accessed December 15, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.