TY - JOUR
T1 - Path modification in the existence of obstacles based on task requirements
AU - Young, Kuu-Young
PY - 1991/10/13
Y1 - 1991/10/13
N2 - A new and efficient approach is proposed to the design of a kinematically feasible path in the existence of obstacles based on task requirements. First, a path is planned by specifying both position and orientation for each point along the path. Then, suitable expressions are derived to describe the relationship between the planned path and the robot workspace. With the geometric information from these expressions and the modification strategies based on different task requirements, the infeasible portions due to the kinematic constraints and obstacles are detected and modified accordingly. A six revolute joint robot manipulator and a sphere obstacle are selected as the case study. The results are further extended to general types of industrial robot manipulators.
AB - A new and efficient approach is proposed to the design of a kinematically feasible path in the existence of obstacles based on task requirements. First, a path is planned by specifying both position and orientation for each point along the path. Then, suitable expressions are derived to describe the relationship between the planned path and the robot workspace. With the geometric information from these expressions and the modification strategies based on different task requirements, the infeasible portions due to the kinematic constraints and obstacles are detected and modified accordingly. A six revolute joint robot manipulator and a sphere obstacle are selected as the case study. The results are further extended to general types of industrial robot manipulators.
UR - http://www.scopus.com/inward/record.url?scp=0026377212&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.1991.169820
DO - 10.1109/ICSMC.1991.169820
M3 - Conference article
AN - SCOPUS:0026377212
SN - 0884-3627
VL - 2
SP - 1011
EP - 1016
JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
M1 - 169820
T2 - Conference Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics
Y2 - 13 October 1991 through 16 October 1991
ER -