• SME MS910312
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SME MS910312

  • Heuristic Search Methods For Finding Collision-Free Paths In The Joint Space Of A Manipulator
  • standard by Society of Manufacturing Engineers, 06/01/1991
  • Publisher: SME

$9.00$18.00


THIS PAPER PRESENTS THE METHODOLOGY FOR FAST, COLLISION-FREE MOTION PLANNING OF A SIX-AXIS INDUSTRIAL ROBOT PERFORMING A WELDING TASK. THE WELDING TASK IS DIVIDED INTO SEVERAL SUB-TASKS AND THE COLLISION-FREE MOTION PLANNED USING THE JOINT SPACE MAP OF THE FIRST THREE JOINTS OF THE MANIPULATOR. THE JOINT SPACE MAP IS DISCRETIZED BY CONSTRUCTING A THREE-DIMENSIONAL GRID AND SEARCHED FOR COLLISION-FREE PATHS ALONG DIFFERENT SEGMENTS OF THE WELDING TASK. THREE TYPES OF HEURISTIC SEARCH PROCEDURES SEARCH FOR A FEASIBLE PATH. AN OPTIMAL PATH WHICH MINIMIZES THE TOTAL DISPLACEMENTS OF THE FIRST THREE JOINTS WAS FOUND.

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