Real-Time Path Planning for a Robotic Arm

No Thumbnail Available

Links to Files

https://dl.acm.org/citation.cfm?id=2141635

Permanent Link

https://doi.org/10.1145/2141622.2141635
 http://hdl.handle.net/11603/11980

Collections

UMBC Computer Science and Electrical Engineering Department
UMBC Faculty Collection
UMBC Student Collection

Author/Creator

Author/Creator ORCID

https://orcid.org/0000-0002-8934-5587

Date

2011-05-25

Type of Work

conference papers and proceedings
Text

Department

Program

Citation of Original Publication

Kavita Krishnaswamy, Jennifer Sleeman, and Tim Oates, Real-Time Path Planning for a Robotic Arm, Proceedings of the 4th International Conference on Pervasive Technologies Related to Assistive Environments , 2011, DOI :10.1145/2141622.2141635

Rights

This item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.

Subjects

Robotic arm
cache
assistance
Artificial intelligence
Embedded and cyber-physical systems
UMBC Ebiquity Research Group

Abstract

With robotics technology, services can be provided to care for individuals with disabilities. This paper describes an eff ort to improve path planning performance for a robotic arm, resulting in faster user response in real-time. For a robotic arm, particularly with multiple degrees of freedom, path planning is computationally expensive. We propose that it is possible to achieve rapid response times with an assistive robotic arm by caching frequent arm trajectories and creating a "roadmap" of arm movements. By calculating trajectories to possible target goals in advance, we anticipate an improvement in user response times.