Minimum distance collision-free path planning for industrial robots with a prismatic joint

摘要: A collision-free path is a which an industrial robot can physically take while traveling from one location to another in environment containing obstacles. Usually the obstacles are expanded compensate for body width of robot. For robots with prismatic joint, allows only translational motion along its axis, additional problems created by long boom handled means pseudoobstacles generated real obstacle's edges and faces. The then modified inclusion contribute forbidden regions. This process itself again be represented point specifying end effector space. An algorithm determining shortest distance given sequence traversed has been developed case stationary