AN ADVANCED TOOL CALLED ROBACAMP, STANDING FOR ROBOT ARM COLLISION AVOIDANCE MOTION PLANNER, HAS BEEN DEVELOPED TO IMPROVE AUTOMATIC ROBOT MOTION PLANNING. ROBACAMP COMPUTATIONALLY PLANS AN ARM COLLISION-FREE END EFFECTOR PATH FOR A TWO-LINK REVOLUTE-JOINT ROBOT. IN ROBACAMP, THE WORK CELL FREE SPACE IS GENERATED IN CARTESIAN SPACE INSTEAD OF IN JOINT SPACE; PATH PLANNING ALSO IS PERFORMED IN CARTESIAN SPACE. THIS PAPER PRESENTS THE COMPUTATIONAL METHODOLOGY IMPLEMENTED IN ROBACAMP FOR REPRESENTATION OF CARTESIAN FREE SPACE AS WELL AS THE TECHNIQUES FOR THE SEARCH FOR AN OPTIMAL END EFFECTOR PATH FOR WHICH THE ROBOT ARM MOTION IS COLLISION FREE.
| Number of Pages : | 12 |
| Published : | 06/01/1991 |
