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Optimal Robot Motion Planning and Work-Cell Layout Design

Published online by Cambridge University Press:  01 January 1997

Zvi Shiller
Zvi Shiller
Affiliation:
Department of Mechanical and Aerospace Engineering, University of California Los Angeles, Los Angeles, Ca 90095-1597, USA
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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.

Keywords

Motion planningRobotsWork-cell designSoftware systems
Type
Research Article
Information
Robotica , Volume 15 , Issue 1 , January 1997 , pp. 31 - 40
Copyright
© 1997 Cambridge University Press

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