ANALYSIS AND PLANNING OF OPTIMAL AND COLLISION-FREE PATHS FOR INDUSTRIAL ROBOTS WITH A PRISMATIC JOINT (ROBOTICS, PATH PLANNING)
Abstract
This thesis deals with automating the path planning process for Stanford manipulators. Obstacles are modelled by wire-frames, and the robot by a line segment. Obstacle expansion is used as compensation to achieve the latter simplification. Pseudo-obstacles are introduced which delineate unsafe positions for the end effector, thereby enabling the robot to be modelled as a point for path planning purposes. Safe trajectories are then planned, and various heuristic rules are then presented which modify the trajectory into a locally optimized path in the mean-squared distance sense. Algorithms which determine the safety of straight line segment paths are also presented as a necessary part of the path planning process.
Degree
Ph.D.
Subject Area
Electrical engineering
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