設計工学・システム部門講演会講演論文集
Online ISSN : 2424-3078
セッションID: 1204
会議情報
区間演算に基づく物体の障害物回避経路探索(システム最適化)
松本 政秀安田 晃
著者情報
会議録・要旨集 フリー

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抄録
This paper discusses a method to find a collision-free path of industrial robot manipulators in a known environment where collision detection between manipulators and obstacles is necessary. The configuration of robot manipulators is represented based on the concept of configuration space(C-space) whose coordinates correspond to degrees of freedom of manipulators. Geometric criteria of collision between manipulators and obstacles are formulated and estimated in each region of segmented C-space by using interval analysis. Based on this estimation, the shortest path from given starting point to end point in C-space is obtained by Diikstra algorithm through the series only of the feasible regions where it is guaranteed that manipulators do not collide with obstacles.
著者関連情報
© 2004 一般社団法人 日本機械学会
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