Path Synthesis Through Explicit Free Space for An Industrial Robot
Ranjan Bhattacharya, A. K. Dutta, S. K. Mukherjee, Arindam Bhattacharyya · 1988
This paper presents an algorithmic approach for solving the path synthesis problem for a manipulator moving among obstacles, based on a map in six dimensional joint space and finds a safe path (if one exists) for the object to be manipulated. The relevant obstacles approximated as polyhedra (both convex and concave) are mapped in cartesian space through their vertices. Considering the limit of the joints and with certain increments, the entire joint space is transformed into cartesian space to check for causes of collisions. The configurations causing collision are identified. The path is searched through collision free configurations by extending the concept of Lee’s algorithm to the derived six-dimensioned joint space. Subsequently an operational program for the robot is generated in appropriate language.