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Automatic off-line programming and motion planning for industrial robots

  • This paper discusses the problem of automatic off-line programming and motion planning for industrial robots. At first, a new concept consisting of three steps is proposed. The first step, a new method for on-line motion planning is introduced. The motion planning method is based on the A*-search algorithm and works in the implicit configuration space. During searching, the collisions are detected in the explicitly represented Cartesian workspace by hierarchical distance computation. In the second step, the trajectory planner has to transform the path into a time and energy optimal robot program. The practical application of these two steps strongly depends on the method for robot calibration with high accuracy, thus, mapping the virtual world onto the real world, which is discussed in the third step.

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Author:Heinz Wörn, Christian Wurll, Dominik Henrich
Document Type:Article
Language of publication:English
Year of Completion:1998
Year of Publication:1998
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/04/04
Tag:AG-RESY; PARO; SKALP; motion planning; off-line programming; robot calibration; trajectory optimization
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Collections:AG RESY
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011