Skip to main content
OSTI.GOVU.S. Department of Energy Office of Scientific and Technical Information
U.S. Department of Energy
Office of Scientific and Technical Information
 

Method and apparatus for planning motions of robot manipulators

Patent ·
OSTI ID:870549
 [1];  [2]
  1. 4000 Camino De La Sierra, N.E., Albuquerque, NM 87111
  2. 9036 Walter Bambrook, N.E., Albuquerque, NM 87122
+ Show Author Affiliations

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.

Research Organization:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA
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)
Patent Number(s):
US 5544282
OSTI ID:
870549
Country of Publication:
United States
Language:
English

References (6)

Rapid computation of configuration space obstacles conference January 1990
Path planning using a Jacobian-based freespace generation algorithm
  • Paden, B.; Mees, A.; Fisher, M.
  • 1989 IEEE International Conference on Robotics and Automation, Proceedings, 1989 International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1989.100225
conference January 1989
A Monte-Carlo algorithm for path planning with many degrees of freedom conference January 1990
A fast procedure for computing the distance between complex objects in three-dimensional space journal April 1988
A local based approach for path planning of manipulators with a high number of degrees of freedom conference January 1987
A simple motion-planning algorithm for general robot manipulators journal June 1987

Similar Records

Apparatus for attaching a cleaning tool to a robotic manipulator
Patent · Mon Dec 31 23:00:00 EST 1990 · OSTI ID:10178946
Apparatus for attaching a cleaning tool to a robotic manipulator
Patent · Tue Dec 31 23:00:00 EST 1991 · OSTI ID:868472
Apparatus for attaching a cleaning tool to a robotic manipulator
Patent · Tue Sep 22 00:00:00 EDT 1992 · OSTI ID:7274398

Related Subjects

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