Path-planning editor for kinematically redundant robots

Hari Das; Sukhan Lee

doi:10.1117/12.142114

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26 March 1993 Path-planning editor for kinematically redundant robots

Hari Das, Sukhan Lee

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Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142114
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

A computer aid is proposed in this paper for planning paths for redundant robots. The aid, called a Path Planning Editor (PPE), allows a user to specify the complete configuration for a redundant robot over a desired path. Powerful visualization features in the PPE help the user make decisions on configuration selection for the robot. Visualization is offered not only of the robot motion but also of the optimization criterion function plotted over the redundant space. A demonstration of these ideas has been implemented using two graphic workstations for 3-D visualization and a third computer for the user interface designed using the X Window system. The robot chosen for the application is the 8 degrees of freedom AAI robot used in the Advanced Teleoperation Laboratory of JPL. Details of the implementation are described and suggestions are made for improvement of the PPE in this paper.

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Hari Das and Sukhan Lee "Path-planning editor for kinematically redundant robots", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142114

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