A rational B-Spline curves in robot collision - free movement planning

• Autorzy: Reclik D. , Kost G. G.
• Języki publikacji: EN

Abstrakty

EN

In this paper there is described the using of 2D robot workspace analysis method with smoothing process by using B-Spline curves [7]. The robot workspace analysis is necessary to generate the collision-free movement paths. This paper is connected with a project, which will be ended with fully functional added application in robot off-line programming. In the last part of this project the authors created the motion planner based on grading function and Markov chains. This planner allows determining the collision-free trajectory of robot bunch. Determining the collision-free trajectory generates a lot of step functions – all movements were possible in only one direction (parallel to Cartesian axes) [1,7]. The worked out planner choose the best path – by shortest movement length or shortest movement time criterion. Achieved path is optimised and smooth by using NURBS and B-Spline curves [2,4,5], which is the main goal of this paper. Smoothing and time-function making is very important, because it allows getting the speed and acceleration data, which are necessary in robot controlling. B-Spline curves fulfil continuous first and second derivate condition. Another advantage of using B-Spline is a possibility to enlarge the movement quality by using the minimal acceleration criteria. This allows growing the steadiness of movement.

Słowa kluczowe

EN

robot's motion planning; non-collision trajectory; NURBS and B-Spline curves

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2008
• Tom: Vol. 2, No. 3
• Strony: 38--42
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Reclik D.

autor

Kost G. G.

• Ph.D. student at the Silesian Technical University, Institute of Engineering Processes Automation and Integrated Manufacturing Systems, ul. Konarskiego 18A, 44-100 Gliwice, Poland,

Bibliografia

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• [6] Kost G., Zdanowicz R., "Modeling of manufacturing systems and robot motions", Journal of Materials Processing Technology, Elsevrier, vol. 164-165, May 2005, pp.1369-1378.
• [7] Boissonat J.D., Budrick J., Goldberg K., Algorithmic Foundations of Robotics V, Springer tracts i n advanced robotics 7, Springer-Verlag Publishing, Berlin-Heidelberg 2004.
• [8] Kost G.G., The based on grading function and Markov Chains stationary and manipulation robots safety move-ment planning, Wydawnictwo Politechniki Śląskiej, Gliwice 2004 (in Polish).
• [9] Fortuna Z., Macukow B., Wąsowski 3., The numerical methods, PWN, Warszawa 1999 (in Polish).
• [10] Majchrzak E., Mochnacki B., The numerical methods. Theoretical foundations, practical aspects and algorithms, Wydawnictwo Politechniki Śląskiej, Gliwice 2004 (in Polish).