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Automatic off-line programming and motion planning for industrial robots
Heinz Wörn , Dominik Henrich , Christian Wurll

Abstract (english)
This paper discusses the problem of automatic off-line programming and motion planning for industrial robots. At first, a new concept consisting of three steps is proposed. The first step, a new method for on-line motion planning is introduced. The motion planning method is based on the A*-search algorithm and works in the implicit configuration space. During searching, the collisions are detected in the explicitly represented Cartesian workspace by hierarchical distance computation. In the second step, the trajectory planner has to transform the path into a time and energy optimal robot program. The practical application of these two steps strongly depends on the method for robot calibration with high accuracy, thus, mapping the virtual world onto the real world, which is discussed in the third step.

Publication data

Year: 1998
Publication date: 27. April 1998
Source: Proceedings of the 29th International Symposium on Robotics 1998 (ISR
Project: SKALP , PARO
Keywords (english): motion planning , off-line programming , robot calibration , trajectory optimization
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=wrn1998a

BibTeX

@MISC{wrn1998a,
  TITLE             = "Automatic off-line programming and motion planning for industrial robots",
  AUTHOR            = "Wörn, Heinz and Henrich, Dominik and Wurll, Christian",
  YEAR              = "1998",
  JOURNAL           = "Proceedings of the 29th International Symposium on Robotics 1998 (ISR",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=wrn1998a}",
}

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wrn1998a.Automatic.offline.programming.and.motion.planning.for.industrial.robots.djvu   79.9K   english   DJVU   download preprint
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