A robot motion planner for 6-DOF industrial robots based on the cell decomposition of the workspace

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Ramer C, Reitelshöfer S, Franke J
Publication year: 2013
Conference Proceedings Title: IEEE ISR 2013
Pages range: 1-4


Abstract


This paper describes an autonomous robot motion planner for 6-DOF industrial robots based on the approximate cell decomposition of the workspace. Known obstacles lead to a hierarchical decomposition up to a predefined degree of the start cell which contains the whole robot workspace. A connectivity tree is searched for the shortest path from the start to the goal position for the Tool Center Point (TCP) of the robot. Center points and points between adjacent cells are used as interpolation points for the robot's path. All possible configurations are calculated for these points and checked for absence of collisions and compliance with kinematic constraints. Subsequently paths between possible configurations of interpolation points are checked for feasibility. If points cannot be reached artificial obstacles are constructed and the work space model is updated.



FAU Authors / FAU Editors

Franke, Jörg Prof. Dr.-Ing.
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Ramer, Christina
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Reitelshöfer, Sebastian
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik


How to cite

APA:
Ramer, C., Reitelshöfer, S., & Franke, J. (2013). A robot motion planner for 6-DOF industrial robots based on the cell decomposition of the workspace. In IEEE ISR 2013 (pp. 1-4). Seoul, KR.

MLA:
Ramer, Christina, Sebastian Reitelshöfer, and Jörg Franke. "A robot motion planner for 6-DOF industrial robots based on the cell decomposition of the workspace." Proceedings of the 44th International Symposium on Robotics (ISR 2013), Seoul 2013. 1-4.

BibTeX: 

Last updated on 2018-20-10 at 23:40