Combined Method for tragectory syntheses of assambly and welding robotic-manipulators in workspace with obstacles
Abstract
A new method is proposed for trajectory syntheses of assembly and welding robotic manipulators in workspace with obstacles, which in contrast to known effectively take in to account complex shape of the elements of the robotic technological cell. The effectiveness of the proposed method is confirmed by the tests results.
About the Authors
M. M. Kozhevnikov
Могилевский государственный университет продовольствия
Belarus
Belarus
O. A. Chumakov
Белорусский государственный университет информатики и радиоэлектроники
Belarus
Belarus
I. E. Ilushin
Могилевский государственный университет продовольствия
Belarus
Belarus
A. V. Starovoitov
Могилевский государственный университет продовольствия
Belarus
Belarus
References
1. Choset H., Lynch K.M., Hutchinson S. et. al. Principles of Robot Motion: Theory, Algorithms, and Implementations. Cambridge, 2006.
2. LaValle S.M. Planning Algorithms. Cambridge, 2006.
3. Lahijanian M. A., Kavraki L. E., Vardi M. Y. // International Conference on Robotics and Automation. Hong Kong, 2014. P. 3005-3012.
4. Maly M.R., Lahijanian M. A., Kavraki L.E. et. al. // ACM International Conference on Hybrid Systems: Computation and Control (HSCC). Philadelphia, 2013. P. 353-362.
5. Sucan I.A., Kavraki L.E. // IEEE International Conference on Robotics and Automation. St. Paul, 2012. P. 4822-4828.
6. Motion planning. Springer Handbook of Robotics / edited by B. Siciliano and O. Khatib. Springer-Verlag, 2008.
7. Geraerts R.J., Overmars M.H. // Algorithmic Foundations of Robotics V. Berlin 2003. P. 43-58.
8. Geraerts R.J., Overmars M.H. // Journal of Robotics and Autonomous Systems. 2007. № 55. Р. 824-836.
9. Geraerts R.J., Overmars M.H. // Journal of Robotics and Autonomous Systems. 2006. № 54. P. 165-173.
10. LaValle S.M., Branicky M., Lindemann S.R. // International Journal of Robotic Research. 2004. № 23(7/8). P. 673-692.
11. Pashkevich A.P., Kazheunikau M.M., Ruano, A.E. // International Journal of Systems Science. 2006. № 37 (8). P. 555-564.
12. Кожевников М.М., Пашкевич А.П., Чумаков О.А. // Докл. БГУИР. 2010. № 4 (50), C. 55-62.
13. Кожевников М.М., Ульянов Н.И., Субоч С.Н. // Вест. Белорусского республиканского фонда фундаментальных исследований. 2011. № 1. C. 44-55.
14. Кожевников М.М. Господ А.В. // Исследования наукограда. 2012. № 1 (1). C. 37-41.
Review
For citations:
Kozhevnikov M.M., Chumakov O.A., Ilushin I.E., Starovoitov A.V. Combined Method for tragectory syntheses of assambly and welding robotic-manipulators in workspace with obstacles. Doklady BGUIR. 2016;(1):12-18. (In Russ.)
Views: 1420
Email this article 