Hostname: page-component-54dcc4c588-sdd8f Total loading time: 0 Render date: 2025-09-12T06:26:30.488Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic direct subspaces for robot path planning

Published online by Cambridge University Press:  09 March 2009

W. E. Red  and
K. H. Kim
W. E. Red
Affiliation:
Systems Automation Laboratories, Brigham Young University, 242 CB, Provo, Utah 84602 (USA)
K. H. Kim
Affiliation:
Systems Automation Laboratories, Brigham Young University, 242 CB, Provo, Utah 84602 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

A direct subspace of a dynamic three-dimensional joint space is found to be useful for robot path planning in workspaces comprised of both static and dynamic objects. Dynamic descriptions permit positioning tables, automated guided vehicles, conveyors and cycling machine tools to be modeled by elements which translate or cycle along rectilinear paths. Graphical path planning procedures use cursor indicators to move the robot configuration point between the desired starting and final configurations while avoiding both the static and dynamic joint space obstacles.

Keywords

DynamicPathPlanningRobotSubspaces

Information

Type
Article
Information
Robotica , Volume 5 , Issue 1 , January 1987 , pp. 29 - 36
Copyright
Copyright © Cambridge University Press 1987

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Donald, B.R., “On Motion Planning with Six Degrees of Freedom Solving the Intersection Problem in Configuration Space” Proc of the IEEE Intl. Conference on Robotics and Automation,St. Louis (03, 1985).Google Scholar
2.Canny, J., “A Voronoi Method for the Piano-Mover Problem” Proc. of the IEEE Intl. Conference on Robotics and Automation,St. Louis (03, 1985).Google Scholar
3.Red, W.E. and Troung-Cao, H.V., “Configuration Maps for Robot Path Planning in Two-Dimensions” ASME J. of Dynamic Systems, Measurement and Control 292–298 (12 1985).Google Scholar
4.Red, W.E., Troung-Cao, H.V. and Kim, H.K., “Robot Path Planning in 3-D Using the Direct Subspace” (Submitted for publication to ASME J. of Dynamic Systems, Measurement and Control, 01 1986).Google Scholar
5.Lozano-Perez, T., “Motion Planning for Simple Manipulators” Proc. of the Third Intl. Symposium on Robotics Research, Paris (10 1985).Google Scholar
6.Park, W.T., “State-Space Representations for Coordination of Multiple Manipulators” Presented at the 14th Intl. Symposium on Industrial Robotics, Gothenburg, Sweden (10 1984).Google Scholar
7.Red, W.E. and Troung-Cao, H.V., “Configuration Maps and Robot Task Planning in 3-D” Proc. of the 1984 Intl. Computers in Engineering Conference,Las Vegas (1984).Google Scholar
8.Red, W.E., “Minimum Distances for Robot Task Simulation” Robotica 1, Part 4, 231–238 (1983).Google Scholar
9.Lozano-Perez, T., “Automatic Planning of Manipulator Transfer Movements” IEEE Transactions on SMC SMC-11, No. 10, 681–698 (10 1981).Google Scholar
10.Maimon, O.Z. and Nof, S.Y., “Coordination of Robots Sharing Assembly Tasks” ASME J. of Dynamic Systems, Measurement and Control 299–307 (12 1985).Google Scholar