CEBCE (collision evasion by collision evaluation): an approach for collision free motion planning for offline programming of industrial robots

• Autorzy: Ruehl M. , Roth H.
• Języki publikacji: EN

Abstrakty

EN

This paper describes a new approach for automatic Robot Motion Planning within an Offline Programming Tool. The robot will be able to move from a start to a goal position within the simulation without any collisions. The algorithm generates in the first step a path that consists of the direct line from the start to the goal configuration in the configuaration space. In the following steps this starting path is moved out of possible collisions. This is done by adding a new point in the path at the most colliding configuration and moving this point out of the collision. The most colliding configuration is found by scaling down all links of the robot to their joints, until the scaled robot does not collide any more. The more the robot has to be scaled down the worse the collision was. Collision tests are only done at interesting configurations. There is no need to precalculate possible collisions at the whole configuaration space. In addition to the collision test, the algorithm gets some information about the "badness" of the collision by the downscaling of the robot. By this the algorithm is able to transfer some information from the robot's workspace in the configuaration space. Our tests show that this algorithm is able to generate collision free paths very fast, even for robots with many degrees of freedom.

Słowa kluczowe

EN

industrial robots; robot programming; automatic robot motion planning; collision evaluation; collision evasion; collision avoidance

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2004
• Tom: Vol. 30, no 4
• Strony: 111--118
• Opis fizyczny: Bibliogr. 4 poz., rys.

Twórcy

autor

Ruehl M.

• University of Siegen, Hoelderlinstr. 3, D-57068 Siegen

autor

Roth H.

• University of Siegen, Hoelderlinstr. 3, D-57068 Siegen

Bibliografia

• [1] Bagiński B., Motion Planning for Manipulators with Many Degrees of Freedom - The BB-Method, Ph.D. Thesis, University of Munich, 1998.
• [2] Latombe J.-C., Robot motion planning, Kluwer Academic Pubhshers, 1991.
• [2] Latombe J.-C., Geometry and search in motion planning, Annals of Mathematics and Artificial Intelligence, 8, 1993,215-227.
• [3] Ralli E., Fast path planning for robot manipulators using numerical potential fields in the configuration space. Proceedings of IEEE International conference on Intelligent Robots and Systems IROS'94, Munich, Germany, 1994
• [4] Schwartz J. T., Planning, geometry and complexity of robot motion, Norwood, New Jersey, 1987.

Uwagi

poz. 2 w bibliografi wprowadzona podwójnie