Abstract
An ”intelligent” automatic system for planning safe trajectories for a computer controlled manipulator among obstacles is a key component of robot assembly operations. This paper describes an efficient algorithm, using configuration space, that finds collision-free paths for a manipulator with three revolute joints. Free space is described with a structure built up with ”areas” and ”cells” of three different sizes. These areas and cells are generated by a program written in MICROSOFT C. They are the database of the path planning program written in LPA PROLOG. Both programs are implemented on a PC AT 286. The generated paths are tested on a MITSUBISHI RM 501 manipulator (see fig. 1).
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© 1991 Springer Fachmedien Wiesbaden
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Heine, R., Schnare, T. (1991). Collision Free Motion Planning for Robot-Manipulators. In: Popović, D. (eds) Analysis and Control of Industrial Processes. Advances in System Analysis, vol 6. Vieweg+Teubner Verlag, Wiesbaden. https://doi.org/10.1007/978-3-322-88847-1_22
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DOI: https://doi.org/10.1007/978-3-322-88847-1_22
Publisher Name: Vieweg+Teubner Verlag, Wiesbaden
Print ISBN: 978-3-528-06340-5
Online ISBN: 978-3-322-88847-1
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