Title :
Mobility analysis for feasibility studies in CAD models of industrial environments
Author :
Van Geem, C. ; Siméon, T. ; Laumond, J.P. ; Bouchet, J.L. ; Rit, J.F.
Author_Institution :
LAAS-CNRS, Chatou, France
Abstract :
Presents a variant of a probabilistic approach to motion planning. The objective is to face large, complex industrial environments for maintenance purpose. The contribution is based on a structuring of the workspace into boxes that limits the size of the graph to be searched. The algorithm was integrated in a commercial CAD system and real-size experiments are presented
Keywords :
CAD; graph theory; industrial robots; kinematics; maintenance engineering; path planning; search problems; CAD models; feasibility studies; industrial environments; mobility analysis; motion planning; probabilistic approach; Costs; Cranes; Filters; Guidelines; Kinematics; Layout; Path planning; Tree graphs;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770365
