Wei Wang, Yang Yang, and Kui Yuan, Autonomous Path Planning For Robot Manipulators in Manufacturing Environment, J. Univ. Sci. Technol. Beijing, 5(1998), No. 2, pp. 104-107.
Cite this article as:
Wei Wang, Yang Yang, and Kui Yuan, Autonomous Path Planning For Robot Manipulators in Manufacturing Environment, J. Univ. Sci. Technol. Beijing, 5(1998), No. 2, pp. 104-107.
Wei Wang, Yang Yang, and Kui Yuan, Autonomous Path Planning For Robot Manipulators in Manufacturing Environment, J. Univ. Sci. Technol. Beijing, 5(1998), No. 2, pp. 104-107.
Citation:
Wei Wang, Yang Yang, and Kui Yuan, Autonomous Path Planning For Robot Manipulators in Manufacturing Environment, J. Univ. Sci. Technol. Beijing, 5(1998), No. 2, pp. 104-107.
Information Engineering School, UST Beijing, Beijing 100083, China
中文摘要
A robot intelligent path planning system(RIPPS), which can be used as a robot off-line programming tool was introduced in this paper. C-space modeling and path search are key parts of the system. A fast C-space modeling is presented based on critical collision joint angle(CCJA), C-obstacle boundary can be computed by the feature points of obstacles. A modified A* algorithm is used for path search, although the path is slightly sub-optimal, a tremendous speed increase is achieved. RIPPS runs on a Silicon Graphic 4D/70 workstation, simulation results show that the system is efficient and practical for robot collision-free autonomous path planning in a structured and known environment.
A robot intelligent path planning system(RIPPS), which can be used as a robot off-line programming tool was introduced in this paper. C-space modeling and path search are key parts of the system. A fast C-space modeling is presented based on critical collision joint angle(CCJA), C-obstacle boundary can be computed by the feature points of obstacles. A modified A* algorithm is used for path search, although the path is slightly sub-optimal, a tremendous speed increase is achieved. RIPPS runs on a Silicon Graphic 4D/70 workstation, simulation results show that the system is efficient and practical for robot collision-free autonomous path planning in a structured and known environment.
下载: