Abstract
In order to enhance integration between CAD and robots, we propose a scheme to planning kinematically feasible paths in the presence of obstacles. Thus, the feasibility of a planned path from a CAD system is assured before the path is sent for execution. The proposed scheme imposes a geometrical analysis on a given robot manipulator and obstacles. Consequently, geometrical information describing the robot workspace, obstacles and the planned path can be derived. Then, by utilizing path modification strategies appropriate to various industrial tasks, the planned path can be modified so that it is kinematically feasible and collision-free and satisfies task requirements. The analyses in this paper are based on multiple arbitrarily-shaped obstacles and general non-redundant wrist-partitioned types of robot manipulators in which the joint axes are either perpendicular or parallel to one another. For demonstration, simulations based on using the PUMA 560 robot manipulator to perform different tasks in the presence of obstacles were conducted.
| Original language | English |
|---|---|
| Pages (from-to) | 21-37 |
| Number of pages | 17 |
| Journal | Mechanism and Machine Theory |
| Volume | 32 |
| Issue number | 1 |
| State | Published - Jan 1 1997 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
Collision-free path planning and modification based on task requirements. / Young, Kuu Young; Huang, Chun-Yuh.
In: Mechanism and Machine Theory, Vol. 32, No. 1, 01.01.1997, p. 21-37.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Collision-free path planning and modification based on task requirements
AU - Young, Kuu Young
AU - Huang, Chun-Yuh
PY - 1997/1/1
Y1 - 1997/1/1
N2 - In order to enhance integration between CAD and robots, we propose a scheme to planning kinematically feasible paths in the presence of obstacles. Thus, the feasibility of a planned path from a CAD system is assured before the path is sent for execution. The proposed scheme imposes a geometrical analysis on a given robot manipulator and obstacles. Consequently, geometrical information describing the robot workspace, obstacles and the planned path can be derived. Then, by utilizing path modification strategies appropriate to various industrial tasks, the planned path can be modified so that it is kinematically feasible and collision-free and satisfies task requirements. The analyses in this paper are based on multiple arbitrarily-shaped obstacles and general non-redundant wrist-partitioned types of robot manipulators in which the joint axes are either perpendicular or parallel to one another. For demonstration, simulations based on using the PUMA 560 robot manipulator to perform different tasks in the presence of obstacles were conducted.
AB - In order to enhance integration between CAD and robots, we propose a scheme to planning kinematically feasible paths in the presence of obstacles. Thus, the feasibility of a planned path from a CAD system is assured before the path is sent for execution. The proposed scheme imposes a geometrical analysis on a given robot manipulator and obstacles. Consequently, geometrical information describing the robot workspace, obstacles and the planned path can be derived. Then, by utilizing path modification strategies appropriate to various industrial tasks, the planned path can be modified so that it is kinematically feasible and collision-free and satisfies task requirements. The analyses in this paper are based on multiple arbitrarily-shaped obstacles and general non-redundant wrist-partitioned types of robot manipulators in which the joint axes are either perpendicular or parallel to one another. For demonstration, simulations based on using the PUMA 560 robot manipulator to perform different tasks in the presence of obstacles were conducted.
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M3 - Article
AN - SCOPUS:0043231170
VL - 32
SP - 21
EP - 37
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
SN - 0374-1052
IS - 1
ER -