Industrial robot manipulator with integrated automatic collision-free path planner

被引：0
|
作者：
Wörn, H [1 ]
Hein, B [1 ]
机构：
[1] Univ Karlsruhe TH, Dept Comp Sci, Inst Proc Control & Robot IPR, D-76128 Karlsruhe, Germany
来源：
INTELLIGENT AUTONOMOUS SYSTEMS 7 | 2002年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper the integration of an automatic path planner in a robot controller for industrial applications is presented. A given position will be reached collision-free and time-optimized. The application allows the input of the workcell with the robot and offers an interface to simulation systems. A command interpreter controls the program execution. The planning method is based on the A*-search algorithm and needs no essential off-line computations and is therefore on-line capable.
引用
收藏
页码：381 / 387
页数：7
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