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3D Path Planning and Real-Time Simulation for Robot Manipulators With Applications to Aerospace Manufacturing

[+] Author Affiliations
Jason Michel Lambert, Iraj Mantegh, Claude Perron

National Research Council Canada, Saint-Laurent, Quebec, Canada

Paper No. DETC2004-57427, pp. 1139-1146; 8 pages
doi:10.1115/DETC2004-57427
From:
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME

abstract

This paper presents a practical scheme for path and trajectory generation with applications in real-time simulation of robotic systems. The path planning is solved as a series of local obstacle avoidance problems which produce via points in the 3D Cartesian space as well as the normal vector to the obstacle surface at each via point. This vector is later utilized for trajectory generation. An intermediate orientation representation is used to guarantee continuity at the angular acceleration level for real-time simulation and control purposes. The proposed method is implemented in a real-time simulation environment for testing and final application. The real-time data generation allows hardware-in-the loop simulation, which is crucial in many aerospace applications.

Copyright © 2004 by ASME

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