Abstract
A fundamental part of a fully automated task-level programming system for industrial robots is a path planner for collision free transfer motions. The most common approach is to perform the planning task in the configuration space (C-space) of the robot. The exponential growth of the C-space with the number of joints of the robot makes it practically impossible to investigate the C-space completely for robots with more than three joints. The approach proposed in this paper is based on a hierarchical decomposition of the C-space that allows to concentrate the investigation on the parts necessary to find a solution. The procedure starts with a rough decomposition and consists in constructing hypothetical paths based on estimates about collisions in sub-C-spaces. Non-collision-free parts of the hypotheses are further refined until a solution is found. Tests have demonstrated that the number of collision tests necessary to find a solution for a robot with 5 joints is reduced by the procedure by a factor of more than 104.
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© 1992 Springer Science+Business Media Dordrecht
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Duelen, G., Willnow, C. (1992). Path Planning of Transfer Motions for Industrial Robots by Heuristically Controlled Decomposition of the Configuration Space. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_25
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DOI: https://doi.org/10.1007/978-94-011-2526-0_25
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5115-6
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