Recently developed manipulator control languages typically specify motions as sequences ofpoints through which a tool afixed to the end of the manipulator is to pass. The effectiveness of such motion specijication formalisms is greatly increased if the tool moves in a straight line between the user-specijied points. This paper describes two methods for achieving such straight line motions. The ...

Several digital human modelling (DHM) tools have been developed for simulation and visualisation of human postures and motions. In 2010 the DHM tool IMMA (Intelligently Moving Manikins) was introduced as a DHM tool that uses advanced path planning techniques to generate collision free and biomechanically acceptable motions for digital human models (as well as parts) in complex assembly situatio...

While the current part carries the title “path planning” the contributions in this section covers two topics: mapping and planning. In some sense one might argues that intelligent (autonomous) mapping actually requires path planning. While this is correct the contributions actually have a broader scope as is outlined below. A common theme to all of the presentations in this section is the adopt...

The era of robotics-based environmental monitoring has given rise to many interesting areas research. A key challenge is that robotic platforms and their operations are typically constrained in ways limit energy, time, or travel distance, which turn limits the number measurements can be collected. Therefore, paths need planned maximize information gathered about an unknown environment while sat...

We present an autonomous robot motion planning system developed in Java. This interactive system enables users to set up the working environment by creating obstacles and a robot of different shapes, specifying starting and goal positions and setting other path or environment parameters from a user-friendly interface. A collision-free path is computed upon specifying the goal point. The path pl...

Real world assembly sequences consists of multiple assembly steps, many of which can be performed in parallel. In practice this parallelism is often not exploited because of the complexity involved in avoiding collisions between all of the robots. In this paper we describe a simpli ed method of achieving smooth collision free paths for multiple robots within a single assembly workcell. Our meth...

Contour Crafting is an emerging technology that uses robotics to construct free form structures by repeatedly laying down layers of material such as concrete. The Contour Crafting technology scales up the additive fabrication process from building small industrial parts to constructing buildings. Tool path planning and optimization for Contour Crafting benefit the technology by increasing the e...

A new tool path planning method for 5-axis flank milling of a globoidal indexing cam is developed in this paper. The globoidal indexing cam is a practical transmission mechanism due to its high transmission speed, accuracy and dynamic performance. Machining the cam profile is a complex and precise task. The profile surface of the globoidal cam is generated by the conjugate contact motion of the...