Collision-Free Path Planning for Efficient Inspection of Free-Form Surface by Using a Trigger Probe

Free-Form Surface Matching for Surface Inspection

Collision-free Path Planning for Articulated Robots

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for articulated robots. First, the configuration of a robot is designed using a set of robot joint angles derived from robot inverse kinematics. The joint space, which is made of a joint angle set, forms a Configuration space (Cspace). Obstacles in a robot work-cell are transformed into Cobstacles (obstacles...

Collision-free Path Planning Based on Clustering

The goal of collision-free path planning is to find a continuous path from a starting position to goal position without any collisions. The collision-free path planning is a critical skill in mobile robot applications, and by now it is still a tough problem because mobile robots would easily run into the situation of planning for the current path while neglecting the global goal. In this paper,...

Collision-Free Path and Motion Planning for Anthropometric Figures

This paper describes a collision free path planning and animation system for anthropometric figures. It can also take into consideration the strength limit of human figures and plan the motion accordingly. The algorithm breaks down the degrees of freedom of the figure into Cspace groups and computes the free motion for each of these groups in a sequential fashion. It traverses the tree in a dep...

Collision Free Path Planning for Multi-DoF Manipulators

Path planning is a very important issue in robotics. It has been widely studied for the last decades. This subject has gathered three interesting fields that were quite different in the past. These fields are robotics, artificial intelligence and control. The general problem of path planning consists of searching a collision free trajectory that drives a robot from an initial location (position...