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A global motion planner for curve-tracing robots

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dc.contributor.authorNeidigk, David D., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorChen, Pang C., author
dc.contributor.authorHwang, Yong K., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T07:26:31Z
dc.date.available2007-01-03T07:26:31Z
dc.date.issued1994
dc.description.abstractWe present a global motion planner for tracing curves in three dimensions with robot manipulator tool frames. This planner generates an efficient motion satisfying three types of constraints: constraints on the tool tip for curve tracing, robot kinematic constraints and robot link collision constraints. Motions are planned using a global search algorithm and a local planner based on a potential-field approach. This planner can be used with any robots including redundant manipulators, and can control the trade-offs between its algorithmic completeness and computation time. It can be applied in many robotic tasks such as seam welding, caulking, edge deburring and chamfering, and is expected to reduce motion programming times from days to minutes.
dc.description.sponsorshipThis work has been performed at Sandia National Laboratories and supported by the U.S. Department of Energy under Contract DE-AC04-76DP00789.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationHwang, Yong K., et al., A Global Motion Planner for Curve-Tracing Robots, Proceedings, 1994 IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego, California: 662-667.
dc.identifier.urihttp://hdl.handle.net/10217/623
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1994, IEEE.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.
dc.subjectposition control
dc.subjecttracking
dc.subjectindustrial robots
dc.subjectkinematics
dc.subjectsearch problems
dc.subjectmanufacturing processes
dc.subjectpath planning
dc.titleA global motion planner for curve-tracing robots
dc.typeText

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