Title :
Optimal positioning of robots: feasibility of continuous trajectories among obstacles
Author :
Reynier, Fabienne ; Chedmail, Patrick ; Wenger, Philippe
Author_Institution :
McGill Res. Center for Intelligent Mach., Montreal, Que., Canada
Abstract :
The authors present a general method for the automatic positioning of a robot in the workcell. The criterion for the optimization routine is a function of the trajectory feasibility, given the static or moving obstacles as well as the joint limits. The authors mathematically define a property of trajectory feasibility and describe a numerical method to calculate it. The optimization problem, the criterion, and the constraints are formalized. A numerical solution, and the results of two test cases are included
Keywords :
industrial robots; optimal control; optimisation; position control; automatic positioning; continuous trajectories; obstacles; optimal positioning; optimization routine; robots; trajectory feasibility; workcell; Assembly systems; Computer graphics; Intelligent robots; Laser beam cutting; Machine intelligence; Manipulators; Orbital robotics; Parallel robots; Path planning; Robotics and automation;
Conference_Titel :
Systems, Man and Cybernetics, 1992., IEEE International Conference on
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-0720-8
DOI :
10.1109/ICSMC.1992.271779
