A trajectory generation module for 2D and 2D1/2 environment

Author

Mallem, Mali ; Rougeaux, Scbastien ; Mellanger, Hugues ; Chavand, Florent

Author_Institution

Lab. de Robotique d´´Evry, France

fYear

1993

fDate

24-27 May 1993

Firstpage

478

Lastpage

486

Abstract

A trajectory generation module for a mobile robot in a 2D environment and for a robot arm in a 2D1/2 environment made of low height objects placed on a work surface is discussed. For the mobile robot, the problem of driving into a narrow corridor is solved by means of a backtracking process. Obstacle avoidance is carried out by taking into account only the wrist and the end effector of the robot. This allows the determination of a grasping configuration of convex and concave objects, and allows the choice of the shortest, collision-free trajectory

Keywords

manipulators; mobile robots; path planning; position control; 2D environment; backtracking process; collision-free trajectory; concave objects; convex objects; driving; end effector; grasping configuration; low height objects; mobile robot; narrow corridor; obstacle avoidance; robot arm; trajectory generation module; two dimensional environment; work surface; wrist; Electronic mail; End effectors; Joining processes; Mobile robots; Motion control; Motion planning; Orbital robotics; Path planning; Process planning; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

CompEuro '93. 'Computers in Design, Manufacturing, and Production', Proceedings.

Conference_Location

Pris-Evry

Print_ISBN

0-8186-4030-8

Type

conf

DOI

10.1109/CMPEUR.1993.289837

Filename

289837