Robot Path and Motion Planning

2016 ◽  
pp. 151-169
Author(s):  
Jitendra R. Raol
Keyword(s):  
Motion Planning ◽  
Robot Path

Path Planning with Motion Optimization for Car Body-in-White Industrial Robot Applications

2012 ◽  
Vol 605-607 ◽  
pp. 1595-1599 ◽  
Author(s):  
Pavol Božek ◽  
Kamil Trnka
Keyword(s):  
Motion Planning ◽  
Industrial Robot ◽  
Welding Process ◽  
Current Method ◽  
Industrial Robots ◽  
Motion Optimization ◽  
Body In White ◽  
Time And Energy ◽  
Simulation Systems ◽  
Robot Path

This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part the presented work is done by one of the simulation systems with automatic trajectory generation and off-line programming capability. A spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step.

Autonomous Rectilinear Motion Planning for a Spatial Robot: Path Planning for a Spatial 4R Manipulator With a Single Spherical Obstacle Inside the Workspace

1992 ◽  
Vol 114 (4) ◽  
pp. 559-563 ◽  
Author(s):  
Menq-Dar Shieh ◽  
J. Duffy
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Free Path ◽  
Efficient Algorithm ◽  
Rectilinear Motion ◽  
Robot Path Planning ◽  
End Effector ◽  
Truncated Pyramid ◽  
Robot Path

This is the first of a series of papers dealing with the path planning for a spatial 4R robot with multiple spherical obstacles inside the workspace. In this paper, a time efficient algorithm has been developed to determine a collision free path for the end effector tip of the robot with a single spherical obstacle inside the workspace. A truncated pyramid and a right circular torus are used to model the nonreachable workspaces of the end effector tip of the robot. The problem of guiding the spatial 4R manipulator while avoiding a spherical obstacle is reduced to moving a point while avoiding a truncated pyramid and/or a right circular torus inside the workspace. The point represents the tip of the end effector of the manipulator. This approach produces an efficient algorithm for determining a collision free path. The algorithm has been successfully developed and implemented in the Silicon Graphics 4D-70GT workstation to verify the results.

An Approach to Dynamic Distance Calculations for Obstacle Avoidance Problems

1991 ◽  
Author(s):  
C. Y. Liu ◽  
W. R. Chen ◽  
R. W. Mayne
Keyword(s):  
Motion Planning ◽  
Calculation Method ◽  
Two Dimensional ◽  
Robot Path Planning ◽  
Distance Calculation ◽  
Approach Distance ◽  
Quadratic Programming Method ◽  
Swept Volume ◽  
Planning Problems ◽  
Robot Path

Abstract This paper presents a distance calculation method which can be used in machine motion planning optimizations where interference is a concern. Dynamic distance calculations are discussed which use the quadratic programming method combined with an approximate swept volume approach. Distance-to-contact calculations can be obtained for both interference and non-interference situations. The swept volume of a moving polygon is constructed through a series of overlapped swept volume segments. Each of the swept volume segments is efficiently developed by checking the inner products of polygon outward boundary normals with velocity vectors for polygon vertices. Two dimensional examples of distance-to-contact computations and robot path planning problems are presented for a sample three link robot with three rotational joints.

Optimal Motion Planning of Spot Welding Robot Applications

2012 ◽  
Vol 248 ◽  
pp. 589-593 ◽  
Author(s):  
Kamil Trnka ◽  
Pavol Božek
Keyword(s):  
Motion Planning ◽  
Spot Welding ◽  
Welding Process ◽  
Current Method ◽  
Industrial Robots ◽  
Practical Application ◽  
Optimal Motion Planning ◽  
Time And Energy ◽  
Simulation Systems ◽  
Robot Path

This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part the presented work is done by one of the simulation systems with automatic trajectory generation and off-line programming capability. A spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step.

Computer simulation of sensor-based robot collision avoidance in an unknown environment

Robotica ◽  
1987 ◽  
Vol 5 (4) ◽  
pp. 291-302 ◽  
Author(s):  
K. Sun ◽  
V. Lumelsky
Keyword(s):  
Computer Simulation ◽  
Motion Planning ◽  
Collision Avoidance ◽  
Autonomous Vehicle ◽  
Planning System ◽  
Robot Motion ◽  
Robot Arm ◽  
Fixed Base ◽  
The One ◽  
Robot Path

SUMMARYComputer simulation is a major tool in validation of robot motion planning systems, since, on the one hand, underlying theory of algorithms typically requires questionable assumptions and simplifications, and, on the other hand, experiments with hardware are necessarily limited by available resources and time. This is especially true when the motion planning system in question is based on sensor feedback and the generated trajectory is, therefore, unpredictable. This paper describes a simulation system ROPAS (for RObot PAth Simulation) for testing one approach — called Dynmic Path Planning (DPP) — to sensor-based robot collision avoidance in an environment with unknown obstacles. Using real time graphics animation of the motion planning system, the user can simulate the behavior of an autonomous vehicle or a robot arm manipulator with a fixed base. The overall structure of the system is described, and examples are presented.

scholarly journals PGD Variational vademecum for robot motion planning. A dynamic obstacle case

2018 ◽  
Author(s):  
L. Hilario ◽  
N. Montés ◽  
E Nadal ◽  
M.C. Mora ◽  
A. Falco ◽  
...  
Keyword(s):  
Motion Planning ◽  
Laplace Equation ◽  
Potential Field ◽  
Artificial Potential Field ◽  
Planning Problem ◽  
Diffusion Term ◽  
Dynamic Obstacle ◽  
First Time ◽  
Robot Path ◽  
Motion Planning Problem

A fundamental robotics task is to plan collision-free motions for complex bodies from a start to a goal position among a set of static and dynamic obstacles. This problem is well known in the literature as motion planning (or the piano mover's problem). The complexity of the problem has motivated many works in the field of robot path planning. One of the most popular algorithms is the Artificial Potential Field technique (APF). This method defines an artificial potential field in the configuration space (C-space) that produces a robot path from a start to a goal position. This technique is very fast for RT applications. However, the robot could be trapped in a deadlock (local minima of the potential function). The solution of this problem lies in the use of harmonic functions in the generation of the potential field, which satisfy the Laplace equation. Unfortunately, this technique requires a numerical simulation in a discrete mesh, making useless for RT applications. In our previous work, it was presented for the first time, the Proper Generalized Decomposition method to solve the motion planning problem. In that work, the PGD was designed just for static obstacles and computed as a vademecum for all Start and Goal combinations. This work demonstrates that the PGD could be a solution for the motion planning problem. However, in a realistic scenario, it is necessary to take into account more parameters like for instance, dynamic obstacles. The goal of the present paper is to introduce a diffusion term into the Laplace equation in order to take into account dynamic obstacles as an extra parameter. Both cases, isotropic and non-isotropic cases are into account in order to generalize the solution.

Extending and evaluating the posture-based model of motion planning

2006 ◽  
Author(s):  
Jonathan Vaughan ◽  
Steven Jax ◽  
David A. Rosenbaum
Keyword(s):  
Motion Planning
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