Research on Collision Avoidance Path Planning of Double SCARA Robot
نویسندگان
چکیده
منابع مشابه
Path Planning and Collision Avoidance for Robots
An optimal control problem to find the fastest collision-free trajectory of a robot surrounded by obstacles is presented. The collision avoidance is based on linear programming arguments and expressed as state constraints. The optimal control problem is solved with a sequential programming method. In order to decrease the number of unknowns and constraints a backface culling active set strategy...
متن کاملPath Planning and Collision Avoidance for
We have developed a planner for redundant manipula-tors that is fast, eeective and versatile, based on the idea of treating each link of a rigid-linked robot as if it were slightly exible and under the innuence of a potential eld. We describe the extensions to the basic method that allow it to plan paths for manipulators with revolute joints (linear and spherical joints having been covered in a...
متن کاملPath Planning for Automotive Collision Avoidance Based on Elastic Bands
Collision-free path planning will be an essential feature of future automotive collision avoidance systems (CAS). One of the most promising approaches uses so-called elastic bands in generating emergency trajectories. For the automotive application of this approach, moving obstacles and the borders of the road are modeled by virtual potential fields. To find solutions even in complex driving si...
متن کاملBendable Cuboid Robot Path Planning with Collision Avoidance using Generalized Lp Norms
Optimal path planning problems for rigid and deformable (bendable) cuboid robots are considered by providing an analytic safety constraint using generalized Lp norms. For regular cuboid robots, level sets of weighted Lp norms generate implicit approximations of their surfaces. For bendable cuboid robots a weighted Lp norm in polar coordinates implicitly approximates the surface boundary through...
متن کاملPath Planning and Collision Avoidance for Redundant Manipulators in 3d
We have developed a planner for redundant manipulators that is fast, eeective and versatile, based on the idea of treating each link of a rigid-linked robot as if it were slightly exible and under the innuenceof a potentialeld. We justify the method by exploringsome simple examples, and brieey describe the extensions to the basic method that allow it to plan paths for manipulators with revolute...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IOP Conference Series: Earth and Environmental Science
سال: 2021
ISSN: 1755-1315
DOI: 10.1088/1755-1315/632/3/032051