Robot path planning in a cluttered environment can be a challenging task. In this paper, a new algorithm is proposed to perform path planning of a point-to-point motion of an industrial manipulator. The algorithm starts from a simple joint interpolated movement and, by computing collision detection along the path, creates a set of via-points that form a path which allows the robot to move to the end position without any collision. In the paper, the new algorithm is presented and compared in simulation to other methods.

Iterative Path Planning of a Serial Manipulator in a Cluttered Known Environment

Matteo Bottin
;
giulio rosati;Giulio Cipriani
2020

Abstract

Robot path planning in a cluttered environment can be a challenging task. In this paper, a new algorithm is proposed to perform path planning of a point-to-point motion of an industrial manipulator. The algorithm starts from a simple joint interpolated movement and, by computing collision detection along the path, creates a set of via-points that form a path which allows the robot to move to the end position without any collision. In the paper, the new algorithm is presented and compared in simulation to other methods.
Advances in Italian Mechanism Science
978-3-030-55806-2
978-3-030-55807-9
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11577/3347206
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