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.
Author: | Heinz Wörn, Christian Wurll, Dominik Henrich |
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URN: | urn:nbn:de:hbz:386-kluedo-9758 |
Document Type: | Article |
Language of publication: | English |
Year of Completion: | 1998 |
Year of first Publication: | 1998 |
Publishing Institution: | 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: | Kaiserslautern - Fachbereich Informatik |
DDC-Cassification: | 0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik |
Collections: | AG RESY |
Licence (German): | Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011 |