Method and apparatus for planning motions of robot manipulators

Title: Method and apparatus for planning motions of robot manipulators

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Abstract

Method and apparatus for automatically planning motions of robot manipulators. The invention rapidly finds a collision-free path in a cluttered robot environment, if one exists, from any starting configuration of the robot manipulator to any ending configuration. The time to solution of a motion planning problem is not uniform, but proportional to the complexity of the problem.

Inventors:

Chen, Pang C ^[1]; Hwang, Yong K ^[2]

4000 Camino De La Sierra, N.E., Albuquerque, NM 87111
9036 Walter Bambrook, N.E., Albuquerque, NM 87122

Publication Date:: 1996-01-01

Research Org.:: Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)

OSTI Identifier:: 870549

Patent Number(s):: US 5544282

Assignee:: Chen, Pang C. (4000 Camino De La Sierra, N.E., Albuquerque, NM 87111);Hwang, Yong K. (9036 Walter Bambrook, N.E., Albuquerque, NM 87122)

DOE Contract Number:: AC04-76

Resource Type:: Patent

Country of Publication:: United States

Language:: English

Subject:: method; apparatus; planning; motions; robot; manipulators; automatically; rapidly; collision-free; path; cluttered; environment; exists; starting; configuration; manipulator; time; solution; motion; uniform; proportional; complexity; free path; robot manipulators; robot manipulator; planning motions; /700/701/

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                    Chen, Pang C, and Hwang, Yong K. Method and apparatus for planning motions of robot manipulators.  United States: N. p., 1996. 
        Web.

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                    Chen, Pang C, & Hwang, Yong K. Method and apparatus for planning motions of robot manipulators.  United States.

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                    Chen, Pang C, and Hwang, Yong K. Mon .  
        "Method and apparatus for planning motions of robot manipulators".  United States.  https://www.osti.gov/servlets/purl/870549.

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@article{osti_870549,

  title        = {Method and apparatus for planning motions of robot manipulators},

  author       = {Chen, Pang C and Hwang, Yong K},

  abstractNote = {Method and apparatus for automatically planning motions of robot manipulators. The invention rapidly finds a collision-free path in a cluttered robot environment, if one exists, from any starting configuration of the robot manipulator to any ending configuration. The time to solution of a motion planning problem is not uniform, but proportional to the complexity of the problem.},

  doi          = {},

  url          = {https://www.osti.gov/biblio/870549},
  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {1996},

  month        = {1}

}

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