Path modification in the existence of obstacles based on task requirements

Kuu-Young Young*

*Corresponding author for this work

Research output: Contribution to journalConference article

Abstract

A new and efficient approach is proposed to the design of a kinematically feasible path in the existence of obstacles based on task requirements. First, a path is planned by specifying both position and orientation for each point along the path. Then, suitable expressions are derived to describe the relationship between the planned path and the robot workspace. With the geometric information from these expressions and the modification strategies based on different task requirements, the infeasible portions due to the kinematic constraints and obstacles are detected and modified accordingly. A six revolute joint robot manipulator and a sphere obstacle are selected as the case study. The results are further extended to general types of industrial robot manipulators.

Original languageEnglish
Pages (from-to)1011-1016
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume2
DOIs
StatePublished - 1 Dec 1991
EventConference Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics - Charlottesville, VA, USA
Duration: 13 Oct 199116 Oct 1991

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