Title :
Robot manipulator path planning
Author :
Hendrey, Bernard J. ; Jarvis, Ray A.
Author_Institution :
Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia
Abstract :
A practical solution to the path planning problem for a six degree-of-freedom manipulator robot with arbitrary payload is described. The three phases of operation are explained. Phase one involves planning for the first three joints in a configuration space model using a distance transform. A real space model and heuristics are then used for the orientation planning of the wrist, gripper and payload. The execution of the path is monitored with sensor panels covering the robot so that safe adjustments to the path can be made if necessary
Keywords :
manipulators; path planning; configuration space model; distance transform; gripper; heuristics; joints; orientation planning; path monitoring; payload; real space model; robot manipulator path planning; sensor panels; six degree-of-freedom manipulator; wrist; Grippers; Intelligent robots; Manipulators; Motion planning; Orbital robotics; Path planning; Payloads; Robot sensing systems; Systems engineering and theory; Wrist;
Conference_Titel :
TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.
Conference_Location :
Melbourne, Vic.
Print_ISBN :
0-7803-0849-2
DOI :
10.1109/TENCON.1992.271847
