Abstract
The study deals with a computer-based methodology for the synthesis of an optimal tool tip path for robot manipulators in the presence of obstacles and singularities of the workspace. The methodology plans an optimal path to achieve the best robot kinematic and dynamic performances. An interactive computer program is developed to implement the methodology. To execute the program, robot design parameters, the size and the location of the obstacles, and the initial and the goal states should be specified. Thus there is no need for the specification of the intermediate points or the form of the trajectory. The optimal path is synthesized using Dijkstra's minimum cost path algorithm as a sequence of intermediate points connecting the initial and the goal states. Contrary to most existing methodologies, the computational complexity of this algorithm decreases with an increase in the number and/or size of the obstacles in the workspace. The procedure is general and can be applied to any type of robot. The algorithm has been applied to some industrial SCARA robots and the results are presented.
Original language | English |
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Pages | 517-524 |
Number of pages | 8 |
State | Published - 1988 |
Event | Trends and Developments in Mechanisms, Machines, and Robotics - 1988 - Kissimmee, FL, USA Duration: 25 Sep 1988 → 28 Sep 1988 |
Conference
Conference | Trends and Developments in Mechanisms, Machines, and Robotics - 1988 |
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City | Kissimmee, FL, USA |
Period | 25/09/88 → 28/09/88 |