PATH PLANNING FOR ROBOT MANIPULATORS IN POLYHEDRAL OBJECTS ENVIRONMENT

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题名:	PATH PLANNING FOR ROBOT MANIPULATORS IN POLYHEDRAL OBJECTS ENVIRONMENT
作者:	TSENG,CS;LUE,TS
贡献者:	機械工程學系
关键词:	ALGORITHM
日期:	1995
上传时间:	2010-06-29 18:07:08 (UTC+8)
出版者:	中央大學
摘要:	A recent development in robotics is the increase of intelligence in robots. One of the research fields is to enable robots to autonomously avoid collisions with surrounding objects. This article presents an efficient method for planning collision-free paths for an articulated robot that is surrounded by polyhedral objects. The algorithm plans a hypothetical Archimedes's spiral path from the initial position to the goal position. When a collision among the arms and obstacles is detected, the hypothetical path will be modified to avoid the collision. The algorithm applies geometric methods to determine the upper and lower bounds of the reachable area of the wrist and then determines a collision-free path point on that reachable area. Because the equations, which represent the upper and lower bounds, are simple, the algorithm can rapidly determine a collision-free path. Moreover, with minor modifications, this path planning algorithm can also be applied to other robots such as spherical, cylindrical, and Cartesian types of robots. (C) 1995 John Wiley & Sons, Inc.
關聯:	JOURNAL OF ROBOTIC SYSTEMS
显示于类别:	[機械工程研究所] 期刊論文

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