Title :
A robust motion planner for assembly robots
Author :
Li, Yongcheng ; Zhang, Bo ; Liu, Xiuwen
Author_Institution :
Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China
Abstract :
An emergency-tolerant topological motion planning method for manipulators in an assembly workspace is presented. The topological motion planning method is discussed. The method first partitions the configuration space into several connected blocks and constructs a characteristic network (CN). It then searches for a path in CN. The partition of C-space in a topological method is accurate and complete, which is especially suitable for guiding an emergency-tolerant robot
Keywords :
assembling; industrial robots; manufacturing computer control; path planning; reliability; stability; assembly robots; characteristic network; configuration space partitioning; emergency-tolerant topological motion planning; manipulators; path searching; robust motion planner; topological motion planning method; Computer science; Infrared sensors; Intelligent robots; Motion planning; Orbital robotics; Real time systems; Robot motion; Robotic assembly; Robustness; Uncertainty;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291811
