A global motion planner for curve-tracing robots
- Sandia National Labs., Albuquerque, NM (United States)
- Purdue Univ., Lafayette, IN (United States)
We present a global motion planner for tracing curves in three dimensions with robot manipulator tool frames. This planner generates an efficient motion satisfying three types of constraints; constraints on the tool tip for curve tracing, robot kinematic constraints and robot-link collision constraints. Motions are planned using a global search algorithm and a local planner based on a potential-field approach. This planner can be used with potential-field approach. This planner can be used with any robots including redundant manipulators, and can any robots including redundant manipulators, and can control the trade-offs between its algorithmic completeness and computation time. It can be applied in many robotic tasks such as seam welding, caulking, edge deburrring and chamfering, and is expected to reduce motion programming times from days to minutes.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 10103211
- Report Number(s):
- SAND-93-2307C; CONF-940550-1; ON: DE94001824; BR: GB0103012
- Resource Relation:
- Conference: Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics,San Diego, CA (United States),8-13 May 1994; Other Information: PBD: [1993]
- Country of Publication:
- United States
- Language:
- English
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