Title :
Motion planning of technology robots in specific environments
Author :
Gradetsky, V.G. ; Rizchov, N.N. ; Ermolaev, A.M. ; Semin, V.V.
Author_Institution :
Inst. for Problems in Mech., Acad. of Sci., Moskow, USSR
Abstract :
The problem of determining available trajectories for technological equipment of robotic technology system is investigated. The method for solving three main tasks of trajectory generation problem on contour treatment of outside surfaces of solid bodies is considered. Suppose the processing surface is represented in the parametrical form or by means of a parametrical spline interpolation with the \´q\´-th smoothness order at the border of portions and the \´p\´-th smoothness order on portions (p>or=3, 1>
Keywords :
industrial robots; mobile robots; optimal control; path planning; position control; cooperating motion; industrial robots; manipulator; motion planning; parametrical spline interpolation; position control; suboptimal control; trajectory generation problem; wall climbing robot; Climbing robots; Interpolation; Manipulators; Master-slave; Motion planning; Position control; Solids; Spline; Surface treatment; Technology planning;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240511
