Collision free motion planning for robots by capturing the environment
| Autor: | Simon Storms, Christian Brecher, Marvin Boltes, Lars Lienenluke, Philipp Blanke |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
020901 industrial engineering & automation Downstream (manufacturing) Computer science Collision free Real-time computing 0202 electrical engineering electronic engineering information engineering Robot ComputerApplications_COMPUTERSINOTHERSYSTEMS 020201 artificial intelligence & image processing 02 engineering and technology Motion planning Motion (physics) |
| Zdroj: | ETFA |
| DOI: | 10.1109/etfa46521.2020.9211940 |
| Popis: | More and more industrial robots are being used in SMEs. Due to the lack of CAD models, they are rarely programmed using offline programming methods. With the methods presented in this paper, missing 3D maps of the environment can be flexibly created and even inexperienced operators can be enabled to program complex, collision-free motion sequences. In addition, already programmed sequences can be optimized by the downstream motion planning. The presented method also allows the omitting of intermediate points in complex sequences, which significantly reduces commissioning time and complexity. |
| Databáze: | OpenAIRE |
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