Collision-free Trajectory Planning in 3-D Space for Welding Robot
Jie Yao · Mechanical Engineering & Automation · 2006
In this paper,an effective geometry-graphics method based on Euclid space for welding robot collision-free trajectory planning is studied.This method is a trajectory planning algorithm which is adapted to the robot under the circumstance where the line segment and the arc are boundary obstacles.The 3-D space robot collision-free trajectory planning problem,by means of geometry-graphics method in 2-D space,is resolved.