Optimal robot motion planning and work-cell layout design

Research output: Contribution to journalArticlepeer-review

16 Scopus citations


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 languageEnglish
Pages (from-to)31-40
Number of pages10
Issue number1
StatePublished - 1997
Externally publishedYes


  • Motion planning
  • Robots
  • Software systems
  • Work-cell design


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