著者

長 隆之 佐藤 雅也 森木 和也 杉山 聡 杉田 直彦 中尾 政之

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.37, no.8, pp.718-725, 2019 (Released:2019-10-18)

参考文献数

21

---

Motion planning for robotics manipulation is an essential component for automating various tasks. In this study we discuss optimization-based motion planning methods for robotic manipulation. The optimization-based method can compute smooth and collision-free trajectories with relatively short computational cost. Although existing methods are often designed to output a single solution, the objective function is often multimodal and there exist multiple solutions to achieve a given task. On such a task, obtaining multiple solutions gives a user an opportunity to choose one of the solutions based on factors which are not encoded in the objective function. To address this issue, we propose a motion planning framework that finds multiple solutions. The proposed method is validated in simulated environments with a four-link manipulator in 2D space and a 6 DoFs manipualtor in 3D space.