3D Robotic Engine
Stephan Jud, Giuseppe Accaputo · HSR (HSR University of Applied Sciences Rapperswil) · 2009
In the shield of robotics an efficient and fast planning of collision free routes is essential to control parallel movements. This document discusses algorithms and strategies for moving liquid handling robots both efficiently and safe in a three dimensional space. An approach for collision detection and resolution in real time is presented as well as a path finding mechanism to traverse typical liquid handling platforms. Additionally, an optimization to achieve higher traveling speeds for robots is introduced.