Title :
Path planning for robot manipulator based on middle goal method
Author :
Shibata, Masaaki ; Takakura, Shinji ; Ohnishi, Kouhei
Author_Institution :
Dept. of Electr. Eng., Keio Univ., Yokohama, Japan
fDate :
28 Oct-1 Nov 1991
Abstract :
The authors present the planning of a collision-free path for an industrial robot manipulator. If there are some obstacles in the work space, the manipulator recognizes them and plans the safety trajectory autonomously. The manipulator can monitor the obstacles in the work space by a camera. The image from the camera is processed, and the obstacles are recognized by the computer. The safety path for the manipulator is planned in configuration space. This space is constructed with the joint angles. By introducing the middle goal method proposed, the time for the planning of the path is reduced. The effectiveness of the proposed method is shown by several experiments with two- and three-degree-freedom manipulators
Keywords :
computer vision; computerised pattern recognition; industrial robots; planning (artificial intelligence); position control; collision-free path; computer vision; industrial robot; manipulator; middle goal method; path planning; position control; Cameras; Image recognition; Manipulators; Orbital robotics; Path planning; Pattern recognition; Robot vision systems; Safety; Service robots; Shape;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239151