Toward efficient path-planning for articulated robots

@article{Gini1995TowardEP,
  title={Toward efficient path-planning for articulated robots},
  author={Giuseppina Gini and R. Massa and Raffaella Negretti},
  journal={J. Field Robotics},
  year={1995},
  volume={12},
  pages={93-104}
}
Real-time issues are becoming more and more important in robot programming. When a 6-dof manipulator is used, planning obstacle-avoiding paths is a time-consuming activity, usually done in simulation. We present the geometric models and the reasoning techniques we have implemented while realizing a gross motion planner for a manipulator with six revolute joints. First, construction of a problem-oriented representation of the robot working space is explained. Then, the actual trajectory research… CONTINUE READING