DocumentCode
3339794
Title
Motion planning of technology robots in specific environments
Author
Gradetsky, V.G. ; Rizchov, N.N. ; Ermolaev, A.M. ; Semin, V.V.
Author_Institution
Inst. for Problems in Mech., Acad. of Sci., Moskow, USSR
fYear
1991
fDate
19-22 June 1991
Firstpage
1557
Abstract
The problem of determining available trajectories for technological equipment of robotic technology system is investigated. The method for solving three main tasks of trajectory generation problem on contour treatment of outside surfaces of solid bodies is considered. Suppose the processing surface is represented in the parametrical form or by means of a parametrical spline interpolation with the \´q\´-th smoothness order at the border of portions and the \´p\´-th smoothness order on portions (p>or=3, 1>
Keywords
industrial robots; mobile robots; optimal control; path planning; position control; cooperating motion; industrial robots; manipulator; motion planning; parametrical spline interpolation; position control; suboptimal control; trajectory generation problem; wall climbing robot; Climbing robots; Interpolation; Manipulators; Master-slave; Motion planning; Position control; Solids; Spline; Surface treatment; Technology planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240511
Filename
240511
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