Motion planning of a robot manipulator for time-varying obstacle avoidance using adaptive view-time

적응관측시간을 이용한 로보트 매니퓰레이터의 시변 장애물 회피 동작 계획

An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We use the view-time concept, especially the adaptive view-time. First. we introduce the adaptive view-time and analyze its properties. Next, we propose a view-time based motion planning method. The proposed method is applied and simulated for the collision-free motion planning of a 2 DOF robot manipulator. We simulate the robot motion under several different view-time systems. Generally, the motion planning with the adaptive view-time systems has some advantages over that with the fixed view-time systems.