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An approach to time-optimal, smooth and collision-free path planning in a two robot arm environment

Published online by Cambridge University Press:  09 March 2009

Bailin Cao ,
Gordon I. Dodds  and
George W. Irwin
Bailin Cao
Affiliation:
Control Engineering Research Group, Department of Electrical and Electronic Engineering, The Queen's University of Belfast, Belfast BT9 5AH (U.K.)
Gordon I. Dodds
Affiliation:
Control Engineering Research Group, Department of Electrical and Electronic Engineering, The Queen's University of Belfast, Belfast BT9 5AH (U.K.)
George W. Irwin
Affiliation:
Control Engineering Research Group, Department of Electrical and Electronic Engineering, The Queen's University of Belfast, Belfast BT9 5AH (U.K.)
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Summary

An approach to time-optimal smooth and collision-free path planning for two industrial robot arms is presented, where path planning and joint trajectory generation are integrated. A suitable objective function, combining the requirements of time optimality and path smoothness, is proposed, which is subject to the continuity of joint trajectories, limits on their rates of change and collision-free constraints. Fast and effective collision detection for the arms is achieved using the Kuhn- Tucker conditions along with the convexity of the distance function and relying on geometrical relationships between cylinders. Nonlinear optimization is used to solve this path planning problem. The feasibility of this method is illustrated both by simulation and by experimental results.

Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 61 - 70
Copyright
Copyright © Cambridge University Press 1996

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