Implementation of a Real-Time Trajectory Planner Incorporating End-Effector Collision Avoidance for a Manipulator Arm
This paper describes the initial development of a real-time trajectory planner for a robotic manipulator arm. The planner is enhanced with the ability for the end-effector to avoid unknown obstacles in the workspace based on on-line proximity sensor data.
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Adcances in
Robot Kinematics
Springer-Verlag Wien GmbH
S. Stifter and J. Lenarcic (eds.)
Advances in Robot Kinematics With Emphasis on Symbolic Computation
Springer-Verlag Wien GmbH
Dipl.-Ing. Dr. Sabine Stifter RISC-Linz. Research Institute for Symbolic Computation Johannes Kepler University Linz. Linz. Austria Dr. Jadran Lenarcic Jozef Stefan Institute Edvard Kardelj University. Ljubljana. Yugoslavia
This work is subject to copyright. All rights are reserved. whether the whole or part of the material is concerned. specifically those of translation. reprinting. re-use of illustrations, broadcasting, reproduction by photocopying machines or similar means, and storage in data banks . © 1991 by Springer-Verlag Wien
With 208 Figures
ISBN 978-3-7091-4433-6 (eBook) ISBN 978-3-211-82302-6 DOI 10.1007/978-3-7091-4433-6
Preface Advances in Robot Kinematics is a series of specialized international workshops
organized every other year. Its objective is to provide a regular forum for researchers working in robot kinematics and to stimulate new directions of research by forging links between robot kinematics and other research areas. The series of workshops has been established within the framework of the Alpe Adria Program. The Alpe Adria Program consists of a cooperation on several
levels between European countries adjacent to the Alps or the Adriatic Sea. The first workshop in this series took place in Ljubljana (Yugoslavia) on September 1988 and was organized by the Jozef Stefan Institute. Invited speakers, including many leaders in the field, discussed a wide range of topics on robot kinematics covering the whole spectrum from theory to practice. An international committee of specialists in the field of robot kinematics has been established to guide the organization of future meetings and other activities, including recommendation of world-wide scientific cooperation, promotion of new publications, distribution of relevant information, and standardization of notation, nomenclature, and methodologies. The second workshop was jointly organized by the Research Institue for Symbolic Computation (Linz, Austria) and the Jozef Stefan Institute (Ljubljana, Yugoslavia). It was held at the University of Linz (Austria), September 10-12, 1990. The main focus of the second workshop was again to cover all aspects of robot kinematics, both in theory and in experimental implementations. Special emphasis was put on the investigation of symbolic computation techniques for problems in robot kinematics. While the first meeting had only invited lectures, this one included mainly contributed presentations. Almost 130 papers were submitted, out of which only 53 could be accepted (due to time limitations). The plenary lecture was presented by Bernard Roth from Stanford Unversity (USA). Four invited lectures by Jorge Angeles from McGill University (Canada), Marc Gaetano from INRIA at Sophia Antipolis (France), J. Michael McCarthy from University of California at Irvine (USA), and Bud Mishra from New York University (USA) gave an ov
