Naslov
Trajectory planning for scara robot in C-space

Autori
Crneković, Mladen

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 7th International DAAAM Symposium / Branko Katalinić - : DAAAM International Vienna, 1996, 89-90

Skup
7th International DAAAM Symposium

Mjesto i datum
Beč, Austrija, 17.10.1996. - 19.10.1996

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
robotics; path planning; c-space

Sažetak
The main precaution in robot intelligent behavior is its ability of path planning in the presence of obstacles. It is assumed that obstacles position, orientation and dimensions are well known. Planned path have to be collision free, i.e. any part of robot or manipulated object may not be in touch by any obstacle during the motion along the path. Several methods are developed for this purpose. Common idea is to make a mathematical model of space with obstacle description. One of the most popular and general method is configuration space or C-space. In the C-space all objects (robot and obstacles) are point-like objects. Searching in the C-space with gras-fire algorithm has been done.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA