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Robotic arm self-taught path planning using transportation model heuristics

Published online by Cambridge University Press:  09 March 2009

Earnest W. Fant  and
Sylvia L. Tran
Earnest W. Fant
Affiliation:
University of Arkansas, Department of Industrial Engineering, Fayetteville, Arkansas 72701 (USA)
Sylvia L. Tran
Affiliation:
Sylvia L. Tran, Baldor Electric Company. Engineering Department, Fort Smith, Arkansas 72901 (USA)
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Extract

The objective of this experimental research was to determine whether or not an integrated vision and robotic arm system, using grey level detection and a transportation model heuristic, could plan and execute its own point-to-point navigation. The heuristic is the shortest-route algorithm which deals with finding the smallest possible distance to visit multiple locations only once. The only point taught by a human operator was a starting position and all other points within the workspace, to be visited by the robotic arm to perform tasks such as screw-fastening, adhesive application and detailed inspection of assemblies, were learned by the system.

Keywords

Path planningModel heuristicsRobotic armIntegrated visionApplications
Type
Research Article
Information
Robotica , Volume 12 , Issue 1 , January 1994 , pp. 17 - 21
Copyright
Copyright © Cambridge University Press 1994

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