Path feasibility and modification | Zendy

Young KuuYoung | Zendy; Wu ChiHaur | Zendy

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Path feasibility and modification

Author(s) -

Young KuuYoung,

Wu ChiHaur

Publication year - 1992

Publication title -

journal of robotic systems

Language(s) - English

Resource type - Journals

eISSN - 1097-4563

pISSN - 0741-2223

DOI - 10.1002/rob.4620090504

Subject(s) - workspace , kinematics , robot , path (computing) , cartesian coordinate system , task (project management) , representation (politics) , singularity , computer science , motion planning , cartesian coordinate robot , robot kinematics , control theory (sociology) , artificial intelligence , mathematics , engineering , geometry , mobile robot , physics , classical mechanics , systems engineering , control (management) , politics , law , political science , programming language

Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric information can be derived from the planned path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian robot path that is kinematically infeasible can be modified according to different task requirements. To demonstrate the proposed feasibility and modification schemes, simulations for a 6R robot manipulator are executed.

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