Point-to-point and multi-goal path planning for industrial robots

Point-to-point and multi-goal path planning for industrial robots

This article presents contributions in the field of path planning for industrial robots with 6 degrees of freedom. This work presents the results of our research in the last 4 years at the Institute for Process Control and Robotics at the University of Karlsruhe. The path planning approach we present works in an implicit and discretized C-space. Collisions are detected in the Cartesian workspac...

Joint Space Point-to-point Motion Planning for Robots. an Industrial Implementation

A path-following algorithm for industrial robots is presented in this paper. The algorithm generates off-line a joint space point-to-point trajectory that, by exploiting knowledge of the dynamic model, takes into account the actuators’ torque limits while preserving the geometric path. Due to the software characteristic of the specific industrial architecture, the trajectories adopt a trapezoid...

Point to Point Sensor Based Path Planning Algorithm for Autonomous Mobile Robots

The Bug algorithm is a local path planning methodology which detects the nearest obstacle as a mobile robot moves towards a target with limited information about the environment. It uses obstacle border as guidance toward the target. In Bug algorithm, the robot circumnavigates the obstacle till it finds certain condition to fulfill algorithm criteria to leave the obstacle toward target point. T...

Evolutionary Path Planning Algorithm for Industrial Robots

This paper proposed a new methodology to solve collision free path planning problem for industrial robot using genetic algorithms. The method poses an optimization problem that aims to minimize the significant points traveling distance of the robot. The behaviour of more two operational parameters – the end effector traveling distance and computational time – is analysed. This algorithm is able...

Determination of Location and Path Planning Algorithms for Industrial Robots