TY - GEN
T1 - A network optimization approach to three-dimensional collision-free robot path planning
AU - Jain, P. K.
AU - Manoochehri, S. P.
N1 - Publisher Copyright:
© 1989 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1989
Y1 - 1989
N2 - 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.
AB - 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.
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U2 - 10.1115/DETC1989-0088
DO - 10.1115/DETC1989-0088
M3 - Conference contribution
AN - SCOPUS:85105576218
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 177
EP - 182
BT - Design Optimization
T2 - ASME 1989 Design Technical Conferences, DETC 1989
Y2 - 17 September 1989 through 21 September 1989
ER -