Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1994.10a
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- Pages.913-917
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- 1994
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- 2005-8446(pISSN)
충돌회피를 위한 다관절 로봇의 최적 경로계획
Abstract
A collision-free geometric path for industrial articulated robot is searched among polyhedral obstacles considering kinematic charcteristics. Then minimum-time control of the geometric path is studied considering dynamic characteristics. The algorithm is simulated on PC for maximum speed, moving time and so forth.
Keywords