Avoiding the Obstacles in the Robot Working Zone by using the Lee Algorithm

• Autorzy: Daneshjo Naqib , Kralík Marián , Petrovčiková Katka , Dudáš Pajerská Erika , Paštéka Michael

Identyfikatory

DOI

10.12913/22998624/106239

• Języki publikacji: EN

Abstrakty

EN

Non-collision trajectories of an industrial robot are the key objective when planning its handling cycles. When the robot should move optimally, precisely and safely in each situation, it is necessary that every obstacle placed in its transition trajectory should be programmed and avoided. The optimal trajectory corresponds to choosing, if possible, the shortest and most appropriate way for the specific movement to be finished. The task of avoiding obstacles by the industrial robot in its working zone can be solved by various methods and algorithms. The paper shows the use of the kinematics SCARA as a way of avoiding obstacles by a robot in the working zone using the Lee algorithm. The configuration fields and networks are being modelled for the avoidance of obstacles together with their evaluation and the search for the shortest trajectory reflected in the robot programming.

Słowa kluczowe

EN

robot working zone; Lee algorithm; local coordinate systems; general coordinates system

PL

strefa pracy robota; algorytm Lee; lokalne układy współrzędnych; ogólny układ współrzędnych

• Wydawca: Lublin University of Technology ; Polish Society of Ecological Engineering (PTIE), Branch of PTIE in Lublin
• Czasopismo: Advances in Science and Technology. Research Journal
• Rocznik: 2019
• Tom: Vol. 13, no 2
• Strony: 72--83
• Opis fizyczny: Bibliogr. 10 poz., fig., tab.

Twórcy

autor

Daneshjo Naqib

• Faculty of Business Economics with seat in Kosice, University of Economics in Bratislava, Slovakia

autor

Kralík Marián

• Slovak University of Technology in Bratislava, Faculty of Mechanical Engineering, Namestie Slobody 17, 81231 Bratislava, Slovakia

autor

Petrovčiková Katka

• Faculty of Business Economics with seat in Kosice, University of Economics in Bratislava, Slovakia

autor

Dudáš Pajerská Erika

• Faculty of Business Economics with seat in Kosice, University of Economics in Bratislava, Slovakia

autor

Paštéka Michael

• Slovak University of Technology in Bratislava, Faculty of Mechanical Engineering, Namestie Slobody 17, 81231 Bratislava, Slovakia

Bibliografia

• 1. Angeles J.: Fundamentals of Robotic Mechanical Systems (Theory, Methods, and Algorithms) Montreal. Springer, 2007.
• 2. Ceng J., Krämer S.: OOP-Project Maze Router with Lee Algorithm. Aachen. Institute for Integrated Signal Processing Systems, 2007.
• 3. Daneshjo N., Králik M., Majerník M., Dudáš Pajerská E., Naščáková J.: Non-collision trajectories of service industrial robots. Advances in Engineering Software, 124 (2018), 90–96.
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• 8. Palko A., Smrček J.: The use of pneumatic artificial muscles in robot construction. Industrial Robot – An International Journal. 1 (2011), 11–19.
• 9. Pribulová A., Futáš P., Petrík J., Pokusová M., Brzezinski, M., Jakubski, J.: Comparison of cupola furnace and blast furnace slags with respect to possibilities of their utilization. Archives of Metallurgy and Materials. 4 (2018), 1865–1873.
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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).