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.File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.