Abstract
This paper describes an interactive software system, developed at the Robotics and Automation Laboratory at UCLA to demonstrate innovative approaches to off-line robot programming and work-cell layout design. The software computes the time-optimal motions along specified paths, local optimal paths around an initial guess, and the global optimal path between given end-points. It considers the full robot dynamics, actuator constraints, on the payload acceleration or the gripping force, and any number of polygonal obstacles of any shape. The graphic displays provide a useful tool for interactive motion planning and workcell design.
Original language | English |
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Pages (from-to) | 31-40 |
Number of pages | 10 |
Journal | Robotica |
Volume | 15 |
Issue number | 1 |
DOIs | |
State | Published - 1997 |
Externally published | Yes |
Keywords
- Motion planning
- Robots
- Software systems
- Work-cell design