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프리아크를 이용한3차원 형상 공간 장애물 구성 방법

A Method for Constructing 3-Dimensional C-obstacles Using Free Arc

  • 이석원 (우송대학교 컴퓨터전자정보공학부) ;
  • 임충혁 (서울산업대학교 기계설계자동화공학부)
  • 발행 : 2002.11.01

초록

We suggests an effective method to construct time-varying C-obstacles in the 3-dimensional configuration space (C-space) using free arc. The concept of free arc was defined mathematically and the procedure to find free arc in the case off-dimensional C-space was derived in [1]. We showed that time-varying C-obstacles can be constructed efficiently using this concept, and presented simulation results for two SCARA robot manipulators to verify the efficacy of the proposed approach. In this paper, extensions of this approach to the 3-dimensional C-space is introduced since nearly all industrial manipulators are reasonably treated ill the too or three dimensional C-space f3r collision avoidance problem The free arc concept is summarized briefly and the method to find lice arc in the 3-dimensional f-space is explained. To show that this approach enables us to solve a practical collision avoidance problem simulation results f3r two PUMA robot manipulators are presented.

키워드

참고문헌

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