Obstacle-free Workspace based Path Planning for Serial Manipulator

被引：0
|
作者：
Cao, Yi [1 ]
Guo, Mengshi [1 ]
Li, Yayyun [1 ]
机构：
[1] Henan Univ Technol, Sch Elect Engn, Zhengzhou 450001, Henan, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
关键词：
Obstacle-free workspace (OFW); Path planning; Robot manipulator; Mathematical set; Computer graphics;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A path planning method based on an Obstacle-free workspace (abbreviated as OFW) is proposed for collision-free movements of multi-joint serial manipulators. Firstly, based on Monte Carlo and computer graphics, the planning path for a three revolute joints (3R) planar manipulator was created in the OFW. Secondly, the path of a spatial manipulator was obtained by taking advantage of the rapidly-exploring random tree (RRT) method within the workspace. Finally, the corresponding algorithms were described in the frame of mathematical set and the paths illustrated in a series of figures. Both the manipulators, the 3R planar and the spatial, were modeled by the D-H coordinates method in MATLAB Robotics Toolbox.
引用
收藏
页码：6897 / 6900
页数：4
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