Real-time motion planning for robot application in flexible manufacturing systems

Wei Li

doi:10.1117/12.217561

28 August 1995 Real-time motion planning for robot application in flexible manufacturing systems

Wei Li

Proceedings Volume 2620, International Conference on Intelligent Manufacturing; (1995) https://doi.org/10.1117/12.217561
Event: International Conference on Intelligent Manufacturing, 1995, Wuhan, China

Abstract

This paper presents approaches to real-time motion planning for robot application in flexible manufacturing systems (FMS), which are based on an algorithm for fast mapping obstacles from a workspace (W-space) into a configuration space (C-space) by defining fundamental obstacles in W-space. The mapping time for a two-dimensional obstacle is about constant. To plan a collision-free path for a master robot in a multiple robot system, a free subspace is built by computing slice C-space obstacles, while swept volumes produced during master robot motion are computed as additional moving obstacles for a generation of a collision-free path for a slave robot. For robot motion planning with many degrees of freedom, several types of reactive behavior are defined to coordinate motion conflicts between different links and the approach to motion planning with a few degrees of freedom is adopted to quantitatively realize reactive behavior. In order to demonstrate the effectiveness of the proposed approaches, graphical simulation experiments are reported.

Citation Download Citation

Wei Li "Real-time motion planning for robot application in flexible manufacturing systems", Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); https://doi.org/10.1117/12.217561

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available