A numerical approach for planning robot trajectories considering collision avoidance

Author

Van De Logt, G. ; Odekerken, Franz-Josef

Author_Institution

Inst. for Syst. Theory, Saarlandes Univ., Saarbrucken, Germany

Volume

2

fYear

1996

fDate

14-17 Oct 1996

Firstpage

1501

Abstract

This paper describes a new approach for robot trajectory planning. Based on a numerical method for the inverse kinematic transformation, robot trajectories are planned by using a numerical optimization algorithm. The error between two tool center points (TCPs), a target TCP and a current search TCP is minimized by this algorithm. Collisions with static obstacles are avoided by using a potential field approach. An obstacle is wrapped with a potential field, figured by a Gaussian curve. The developed method is tested with simulation studies for the six-degree-of-freedom Puma 560 robot and then extended to a real Puma 560 robot

Keywords

manipulator dynamics; manipulator kinematics; numerical analysis; optimisation; path planning; Gaussian curve; Puma 560 robot; collision avoidance; inverse kinematic transformation; numerical method; optimization; potential field; robot trajectories; tool center points; trajectory planning; Collision avoidance; Kinematics; Optimization methods; Production; Robotics and automation; Robots; Security; Testing; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1996., IEEE International Conference on

Conference_Location

Beijing

ISSN

1062-922X

Print_ISBN

0-7803-3280-6

Type

conf

DOI

10.1109/ICSMC.1996.571369

Filename

571369