Collision free trajectory planning for hybrid manipulators

被引：33
作者：
Gomez-Bravo, F. [1 ]
Carbone, G. [2 ]
Fortes, J. C. [3 ]
机构：
[1] Univ Huelva, Dep Ingn Elect Sist Informat & Automat, La Rabida 21071, Huelva, Spain
[2] Univ Cassino, LARM Lab Robot & Mechantron, Cassino, Italy
[3] Univ Huelva, Dep Ingn Mecam Minera & Energet, La Rabida 21071, Huelva, Spain
来源：
MECHATRONICS | 2012年 / 22卷 / 06期
关键词：
Hybrid manipulators; Collision free trajectories; Motion planning; ROBOT MANIPULATORS; PARALLEL; OPTIMIZATION; KINEMATICS;
D O I：
10.1016/j.mechatronics.2012.05.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the problem of planning collision free paths for hybrid robots. In particular, the authors propose a procedure for computing optimal trajectories in presence of obstacles. The proposed procedure is based on combining a quick random search algorithm (RRT) with an optimisation method that is efficiently solved by using a genetic algorithm. The proposed procedure has been implemented on a hybrid robot that is composed of an industrial SCARA robot together with CaPaMan (Cassino Parallel Manipulator) that has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Experimental tests have been also carried out in order to validate the effectiveness of the proposed procedure. (c) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：836 / 851
页数：16
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