Dynamic and Interactive Path Planning and Collision Avoidance for an Industrial Robot Using Artificial Potential Field Based Method

被引：0
|
作者：
Csiszar, A. [1 ]
Drust, M. [2 ]
Dietz, T. [2 ]
Verl, A. [3 ]
Brisan, C. [1 ]
机构：
[1] Tech Univ Cluj Napoca, Dept Mech Precis Mech & Mechatron, Cluj Napoca 400114, Romania
[2] Fraunhofer Inst Mfg Engn & Automat IPA, D-70569 Stuttgart, Germany
[3] Univ Stuttgart, Inst Control Engn Machine Tools & Mfg Units ISW, D-70174 Stuttgart, Germany
来源：
MECHATRONICS: RECENT TECHNOLOGICAL AND SCIENTIFIC ADVANCES | 2011年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper the dynamic path planning with collision avoidance of an industrial robot is addressed. The Artificial Potential Field (APF) method is used and, as a contribution, it has been expanded with obstacle-charges having different geometrical forms in order to positively influence the generated trajectory. Also an analysis method is presented that ensures that no violation of a specified safety envelope can occur around the obstacles. Implementation of the theoretical consideration and experimental validation using industrial equipment is shown.
引用
收藏
页码：413 / 421
页数：9
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