Hostname: page-component-cd9895bd7-fscjk Total loading time: 0 Render date: 2024-12-26T18:28:48.521Z Has data issue: false hasContentIssue false
  • English
  • Français

Optimal Robot Motion Planning and Work-Cell Layout Design

Published online by Cambridge University Press:  01 January 1997

Zvi Shiller
Zvi Shiller
Affiliation:
Department of Mechanical and Aerospace Engineering, University of California Los Angeles, Los Angeles, Ca 90095-1597, USA
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper describes an interactive software system, developed at the Robotics and Automation Laboratory at UCLA to demonstrate innovative approaches to off-line robot programming and work-cell layout design. The software computes the time-optimal motions along specified paths, local optimal paths around an initial guess, and the global optimal path between given end-points. It considers the full robot dynamics, actuator constraints, on the payload acceleration or the gripping force, and any number of polygonal obstacles of any shape. The graphic displays provide a useful tool for interactive motion planning and workcell design.

Keywords

Motion planningRobotsWork-cell designSoftware systems
Type
Research Article
Information
Robotica , Volume 15 , Issue 1 , January 1997 , pp. 31 - 40
Copyright
© 1997 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)