A network optimization approach to three-dimensional collision-free robot path planning

P. K. Jain, S. P. Manoochehri

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a network optimization approach to the generation of tool tip paths in three-dimensional space for robot manipulators working in the presence of obstacles. The developed algorithm relies on a graph structure enumeration of possible path segments between discrete points inside the workspace. An intelligent heuristic scheme is used to select a small searchspace over which the search for the optima.I path is carried out Paths which are optimal with respect to predetermmed objective functions based on robot kinematic and dynamic solutions are synthesized by applying Dijkstra's minimum cost algorithm. Collision avoidance is checked for the tool tip as well as for the robot body. The methodology is robot independent and can he applied to any robot whose kinematics and dynamics can be solved. A computer program has been developed to implement this approach for three-axis manipulators. Results of the application of this scheme to some robots in this class are also presented.

Original languageEnglish
Title of host publicationDesign Optimization
Pages177-182
Number of pages6
ISBN (Electronic)9780791803684
DOIs
StatePublished - 1989
EventASME 1989 Design Technical Conferences, DETC 1989 - Montreal, United States
Duration: 17 Sep 198921 Sep 1989

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume2

Conference

ConferenceASME 1989 Design Technical Conferences, DETC 1989
Country/TerritoryUnited States
CityMontreal
Period17/09/8921/09/89

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