@inproceedings{d4952edf32684650b1477db3a726c7a9,
title = "A potential-based path planning of articulated robots with 2-DOF joints",
abstract = "This paper proposes a potential-based path planning algorithm of articulated robots with 2-DOF joints. The algorithm is an extension of a previous algorithm developed for 3-DOF joints. While 3-DOF joints result in a very straightforward potential minimization algorithm, 2-DOF joints are obviously more practical for active operations. The proposed approach computes repulsive force and torque between charged objects by using generalized potential model. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The optimization of path safeness, through the innovative potential minimization algorithm, makes the proposed approach unique. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well compared with the algorithm for 3-DOF joints, in terms of collision avoidance and computation efficiency.",
keywords = "Articulated robot, Collision avoidance, Motion planning, Path planning, Potential field",
author = "Jen-Hui Chuang and Lin, {Chien Chou} and Kao, {Jau Hong} and Hsieh, {Cheng Tieng}",
year = "2005",
month = dec,
day = "1",
doi = "10.1109/ROBOT.2005.1570377",
language = "English",
isbn = "078038914X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "1815--1820",
booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",
note = "null ; Conference date: 18-04-2005 Through 22-04-2005",
}