A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The...A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The geometric modeler is used to construct the robot working environment cluttered with obstacles and the robot kinematic modeler to define robot manipulators by the input parameters. Giving robot start and the goal configurations, the path planer can produce a quasi optimal path. By transforming obstacles into the C space to form C obstacles, the path searching is performed in C space. The planning simulations are performed on a SGI workstation, the future research is to implement the planer on a commercial robot manipulators.展开更多
This paper describes a path planning algorithm for integrated assembly design. An analytic method is presented to find sub optimal disassembly path if one exists. A fast computation method for C obstacle boundary ba...This paper describes a path planning algorithm for integrated assembly design. An analytic method is presented to find sub optimal disassembly path if one exists. A fast computation method for C obstacle boundary based on the convolution is presented to replace Minkowski sum. The local translational freedom cone(LTF) of parts is calculated by using assembly relation to find locally free parts and subassemblies. Then, a dynamic step changeable A algorithm with a goal visible test is employed for path searching within the C space. Although the path is slightly suboptimal, a tremendous speed increase is achieved.展开更多
文摘A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The geometric modeler is used to construct the robot working environment cluttered with obstacles and the robot kinematic modeler to define robot manipulators by the input parameters. Giving robot start and the goal configurations, the path planer can produce a quasi optimal path. By transforming obstacles into the C space to form C obstacles, the path searching is performed in C space. The planning simulations are performed on a SGI workstation, the future research is to implement the planer on a commercial robot manipulators.
文摘This paper describes a path planning algorithm for integrated assembly design. An analytic method is presented to find sub optimal disassembly path if one exists. A fast computation method for C obstacle boundary based on the convolution is presented to replace Minkowski sum. The local translational freedom cone(LTF) of parts is calculated by using assembly relation to find locally free parts and subassemblies. Then, a dynamic step changeable A algorithm with a goal visible test is employed for path searching within the C space. Although the path is slightly suboptimal, a tremendous speed increase is achieved.
