2 research outputs found
Object Reconfiguration with Dextrous Robot Agents
This paper addresses an object manipulation planning
algorithm for dextrous robot systems consisting a multifingered hand and a robotic manipulator. A method
has been developed for object reconfiguration design.
The result is a new algorithm using artificial intelligence
based on simulated annealing and A* search.
The upper level of the manipulation system, the global
planner generates the motion of the object. The lower
level, the local planner deals with the motion of the
agents relative to the object and the design of the contact
forces. The local planner is based on simulated
annealing, thus the the local minima can be avoided in
the energy function of the motion with high probability.
Application of the algorithm has been discussed for
three robot arms