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This paper proposes a Hierarchical Task-guided Motion Planning (HTMP) scheme integrating Representation Space (R-space) model to address the motion planning problem in complex visually-guided tasks. The main characteristic of HTMP scheme is the interaction between task level and motion level. Such an interaction is based on the modification of R-space. When current R-space model and planner is unable...
This paper investigates task realizability for robot systems with a representation space-based technique. It is a general technique which can be applied to different robot systems with various tasks. In this paper, initial results on evaluation of motion planning tasks are presented to show the effectiveness of the proposed technique. Path planning tasks of a two-link revolute manipulator in presence...
This paper proposes a general motion planning and coordination strategy for robot systems. The representation space (RS) of a robot system is constructed to describe the distributions of system attributes. The reachable area in the RS, denoting the attribute set that the system can be of, indicates the system's ability to accomplish tasks. Moreover, it also describes the influences of the internal...
A new trajectory planning approach for robot manipulators is proposed. The state space for manipulator system is defined and constructed, by which the reachable scope of the system state is traced out according to the systempsilas internal and external constraints. Conditions of performing successfully the task are given. For realizable task, the optimal strategy for task execution is obtained. If...
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