Abstract
This paper presents an approach to plan obstacle avoiding path of time-optimal trajectory for robot manipulator. When it is assumed that initial and final postures of the manipulator are specified and the manipulator is in the stationary state in both postures, the trajectory minimizing the motion time from the initial state to the final without any collisions against obstacles is planned. In previous papers, time-optimal trajectory along the specified path is well researched and several methods are reported. In this paper, a method to generate the collision free path for time-optimal trajectory is described. It is generally known well that it is effective to utilize Configuration Space for collision free path planning. Then, we propose the method using an advanced configuration space, the Distortive Configuration Space Method, to plan the path. When the configuration space has been obtained, it is transformed with artificial potentials into the distortive one. The path for time-optimal trajectory is represented by a straight segment in the distortive space.
| Original language | English |
|---|---|
| Pages | 1052-1057 |
| Number of pages | 6 |
| Publication status | Published - 1994 Dec 1 |
| Event | Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy Duration: 1994 Sept 5 → 1994 Sept 9 |
Other
| Other | Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) |
|---|---|
| City | Bologna, Italy |
| Period | 94/9/5 → 94/9/9 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering