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.
Automation

Autonomous Path Planning For Robot Manipulators in Manufacturing Environment

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  • Received: 27 November 1997
  • 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.
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