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SME MS94-197
- New Regimes For Robot Motion Planning
- standard by Society of Manufacturing Engineers, 06/01/1994
- Publisher: SME
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PROGRAMMING ROBOT MOTIONS PERFORMING VARIOUS TASKS IS ONE OF THE MOST TIME-CONSUMING STEPS IN USING ROBOTS. CURRENTLY, MOTION PROGRAMMING IS MANUALLY DONE USING TEACH PENDANTS OR GRAPHICAL SIMULATION SOFTWARE. TO SYSTEMATICALLY DEVELOP AUTOMATIC MOTION PLANNERS, ROBOTIC TASKS ARE CLASSIFIED INTO VISIT-POINTS, TRACE-CURVES AND COVER- SURFACE TASKS. THE MOTION PLANNERS COMPUTE NEAR SHORTEST PATHS FROM THE ROBOT AND PART MODELS IN CAD DATA BASES, WHILE RESPECTING TASK CONSTRAINTS, ROBOT KINEMATICS CONSTRAINTS AND COLLISION CONSTRAINTS.