Flexible inspection systems based on robot-arms

Different aspects of automated trajectory planning procedures for inspection systems based on robot arms are pointed out. The robot arm and the surrounding environment are modeled in order to have a 3-D description of the world. Two different kinds of 3-D geometric representations (implicit and parametric geometry) are discussed. A general technique is developed for the computation of sensor and wrist trajectories. This is carried out based on an optimal-control problem formulation. The overall procedure for computing the joints variable for the robot arm, which matches the sensor and wrist requirements, with collision-free movements is studied