A potential-based path planning of articulated robots with 2-DOF joints

Jen-Hui Chuang*, Chien Chou Lin, Jau Hong Kao, Cheng Tieng Hsieh

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

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.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages1815-1820
Number of pages6
DOIs
StatePublished - 1 Dec 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 18 Apr 200522 Apr 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period18/04/0522/04/05

Keywords

  • Articulated robot
  • Collision avoidance
  • Motion planning
  • Path planning
  • Potential field

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