Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Collision-Free Motion Planning of a Robot Using Free Arc concept

프리아크 개념을 이용한 로봇의 충돌회피 동작 계획

  • 이석원 (삼성항공 정밀기기연구소) ;
  • 남윤석 (한국산업기술대학교 자동화공학과) ;
  • 이범희 (서울대학교 전기공학부)
  • Published : 2000.03.01
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Abstract

This paper presents an effective approach to collision-free motion planning of a robot in the work-space including time-varying obstacles. The free arc is defined as a set composed of the configuration points of the robot satisfying collision-free motion constraint at each sampling time. We represent this free arc with respect to the new coordinate frame centered at the goal configuration and there for the collision-free path satisfying motion constraint is obtained by connecting the configuration points of the free arc at each sampling mined from the sequence of free arcs the optimality is determined by the performance index. Therefore the complicated collision-free motion planning problem of a robot is transformed to a simplified SUB_Optimal Collision Avoidance Problem(SOCAP). We analyze the completeness of the proposed approach and show that it is partly guaranteed using the backward motion. Computational complexity of our approach is analyzed theoretically and practical computation time is compared with that of the other method. Simulation results for two cally and practical computation time is compared with that of the other method. Simulation results for two SCARA robot manipulators are presented to verify the efficacy of the proposed method.

Keywords

References

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