TY - GEN
T1 - Optimal three dimensional robot path planning with collision avoidance
AU - Jain, Piyush K.
AU - Manoochehri, Souran
N1 - Publisher Copyright:
© 1991 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1991
Y1 - 1991
N2 - The study reported in this paper deals with path planning in three-dimensional space using network optimization for robotic manipulators working in the presence of obstacles and workspace singularities. To execute the algorithm, the robot design parameters, the geometry and location of the obstacles, and the initial and goal positions of the desired task are required. As a first step, the manipulator workspace is discretized and points inside forbidden regions formed by obstacles and singularities are excluded. An ellipsoidal searchspace is then selected as a part of the workspace to make the network enumeration and path synthesis more efficient. Based on an allowable deviation angle, path segments are created to form the connectivity network. A path which is optimal with respect to the manipulator kinematic and dynamic properties is generated as a sequence of intermediate points connecting the initial and goal states using Dijkstra's minimum cost search technique. A computer program has been developed to implement this methodology for three-axis manipulators, and results of the application of this algorithm to some industrial robots are presented.
AB - The study reported in this paper deals with path planning in three-dimensional space using network optimization for robotic manipulators working in the presence of obstacles and workspace singularities. To execute the algorithm, the robot design parameters, the geometry and location of the obstacles, and the initial and goal positions of the desired task are required. As a first step, the manipulator workspace is discretized and points inside forbidden regions formed by obstacles and singularities are excluded. An ellipsoidal searchspace is then selected as a part of the workspace to make the network enumeration and path synthesis more efficient. Based on an allowable deviation angle, path segments are created to form the connectivity network. A path which is optimal with respect to the manipulator kinematic and dynamic properties is generated as a sequence of intermediate points connecting the initial and goal states using Dijkstra's minimum cost search technique. A computer program has been developed to implement this methodology for three-axis manipulators, and results of the application of this algorithm to some industrial robots are presented.
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U2 - 10.1115/DETC1991-0155
DO - 10.1115/DETC1991-0155
M3 - Conference contribution
AN - SCOPUS:85104886419
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 493
EP - 500
BT - Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls
T2 - ASME 1991 Design Technical Conferences, DETC 1991
Y2 - 22 September 1991 through 25 September 1991
ER -