Optimizing paths in manipulation planning - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Access content directly
Technical Reports Year : 2021

Optimizing paths in manipulation planning


We propose a path optimization method for manipulation. The method tries to minimize path length in the configuration space of the whole system (robots and objects). The problem is cast into a quadratic program with linear constraints. The current path is shorten iteratively. When a collision is detected along an iteration, the method backtracks to the previous collision-free path, adds a linear constraint that prevents the bodies in collision to come close to each other and starts again. The algorithm stops when the global minimum under the collision constraints is reached. The method is run on three different benchmarks, using the real geometric models of the robots Baxter, UR-3 and PR-2.
Fichier principal
Vignette du fichier
paper.pdf (2.85 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-03202250 , version 1 (19-04-2021)


  • HAL Id : hal-03202250 , version 1


Joseph Mirabel, Florent Lamiraux. Optimizing paths in manipulation planning. Rapport LAAS n° 21105. 2021. ⟨hal-03202250⟩
28 View
17 Download


Gmail Mastodon Facebook X LinkedIn More