Title :
Obstacle avoidance path planning of a manipulator
Author :
Xia, K. ; Jiang, S. ; Lü, L.
Author_Institution :
Autom. Dept., Tsing-hua Univ., Beijing, China
Abstract :
This basic robot planning system chooses a motion path to avoid collision with obstacles in workspace. With a camera above the workspace the computer vision can give a simple description of the world model. The presented algorithm transfers a Cartesian description of obstacles into the coordinate of the first three joints of a manipulator. The freespace is described hierarchically by a two-level representation, and a two-level optimization is used for the path planning. Experiments show the whole system can be realized by an IBM-PC with very small memory. The average computation time for one obstacle is 10 s
Keywords :
computer vision; computerised navigation; optimisation; position control; robots; Cartesian description; computer vision; manipulator; motion path; obstacle avoidance path planning; optimization; robot; world model; Cameras; Control system synthesis; Machine vision; Manipulators; Path planning; Robot kinematics; Robot vision systems; Robotic assembly; Robotics and automation; TV;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12130
