Optimal Robot Motion Planning and Work-Cell Layout Design

Authors:
Zvi Shiller
Affiliations:
Department of Mechanical and Aerospace Engineering, University of California Los Angeles, Los Angeles, Ca 90095-1597, USA
Venue:
Robotica
Year:
1997

Citing 0
Cited 2

Planning load-effective dynamic motions of highly articulated human model for generic tasks

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Compact design of work cell with robot arm and positioning table under a task completion time constraint

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

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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.