A joint space technique for real time robot path planning

David Sanders; A Moore; Bing Lam Luk

doi:10.1109/ICAR.1991.240365

A joint space technique for real time robot path planning

David Sanders, A Moore, Bing Lam Luk

City University of Hong Kong

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

An elegant and fast path planning system is presented. The main part of the system comprises a robot 'Path Planner' and 'Path Improver' containing a geometric model of the static environment and the robot. The robot structure is modelled as connected cylinders and spheres and the range of robot motion is quantised. To test the techniques a system was constructed that used a dynamic geometric 'World Model' updated by a vision system. Obstacles were placed in the path of a robot and the results are presented.

Original language	English
Title of host publication	Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1683 - 1689
ISBN (Print)	0780300785
DOIs	https://doi.org/10.1109/ICAR.1991.240365
Publication status	Published - 1991
Event	Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR - Pisa, Italy Duration: 19 Jun 1991 → 22 Jun 1991

Conference

Conference	Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR
Country/Territory	Italy
City	Pisa
Period	19/06/91 → 22/06/91

Access to Document

10.1109/ICAR.1991.240365

EPSRC Project concerning investigating new techniques & methodologies in the control of advanced production machinery
Sanders, D., Harrison, D. & Hollis, J.
1/06/90 → 31/05/93
Project: Research
EPSRC Project concerning the application of model based quality control in volume manufacturing
Billingsley, J. & Sanders, D.
15/06/89 → 14/06/92
Project: Research

Cite this

@inproceedings{da544aa40f8949d2ab86145e30f4c234,

title = "A joint space technique for real time robot path planning",

abstract = "An elegant and fast path planning system is presented. The main part of the system comprises a robot 'Path Planner' and 'Path Improver' containing a geometric model of the static environment and the robot. The robot structure is modelled as connected cylinders and spheres and the range of robot motion is quantised. To test the techniques a system was constructed that used a dynamic geometric 'World Model' updated by a vision system. Obstacles were placed in the path of a robot and the results are presented.",

author = "David Sanders and A Moore and Luk, {Bing Lam}",

year = "1991",

doi = "10.1109/ICAR.1991.240365",

language = "English",

isbn = "0780300785 ",

pages = "1683 -- 1689",

booktitle = "Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR ; Conference date: 19-06-1991 Through 22-06-1991",

}

Sanders, D, Moore, A & Luk, BL 1991, A joint space technique for real time robot path planning. in Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR. Institute of Electrical and Electronics Engineers Inc., Piscataway, pp. 1683 - 1689, Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR, Pisa, Italy, 19/06/91. https://doi.org/10.1109/ICAR.1991.240365

A joint space technique for real time robot path planning. / Sanders, David; Moore, A; Luk, Bing Lam.
Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR. Piscataway: Institute of Electrical and Electronics Engineers Inc., 1991. p. 1683 - 1689.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - A joint space technique for real time robot path planning

AU - Sanders, David

AU - Moore, A

AU - Luk, Bing Lam

PY - 1991

Y1 - 1991

N2 - An elegant and fast path planning system is presented. The main part of the system comprises a robot 'Path Planner' and 'Path Improver' containing a geometric model of the static environment and the robot. The robot structure is modelled as connected cylinders and spheres and the range of robot motion is quantised. To test the techniques a system was constructed that used a dynamic geometric 'World Model' updated by a vision system. Obstacles were placed in the path of a robot and the results are presented.

AB - An elegant and fast path planning system is presented. The main part of the system comprises a robot 'Path Planner' and 'Path Improver' containing a geometric model of the static environment and the robot. The robot structure is modelled as connected cylinders and spheres and the range of robot motion is quantised. To test the techniques a system was constructed that used a dynamic geometric 'World Model' updated by a vision system. Obstacles were placed in the path of a robot and the results are presented.

U2 - 10.1109/ICAR.1991.240365

DO - 10.1109/ICAR.1991.240365

M3 - Conference contribution

SN - 0780300785

SP - 1683

EP - 1689

BT - Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR

PB - Institute of Electrical and Electronics Engineers Inc.

CY - Piscataway

T2 - Fifth International Conference on Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR

Y2 - 19 June 1991 through 22 June 1991

ER -

A joint space technique for real time robot path planning

Abstract

Conference

Access to Document

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Projects

EPSRC Project concerning investigating new techniques & methodologies in the control of advanced production machinery

EPSRC Project concerning the application of model based quality control in volume manufacturing

Cite this