Automatic motion planning within a manufacturing system

David Sanders, Ebrahim Mazharsolook, John Billingsley

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    In the complex environment of a manufacturing system, tasks may be dynamically reconfigured. In this situation robots and machinery need to plan their movements automatically to avoid obstacles and rendezvous with changing target points. In this paper the rational behind the development of a novel motion planning system is described. This system takes into account both kinematic and dynamic constraints. The methods are applied to the complex case of an open kinematic chain. Two aspects of the motion planning problem are reviewed and discussed in detail, that is to suitably represent the machinery and obstacles and to derive suitable trajectories for the actuators. The detection of obstacles is described in various texts, including [Sanders,1990 (PhD Dissertation, Portsmouth)]. Finally the paper discusses the optimization of the machinery motions using the novel methods.
    Original languageEnglish
    Title of host publication8th International conference on systems engineering
    Place of PublicationCoventry
    PublisherCoventry Polytechnic Press
    Pages916-923
    Number of pages8
    ISBN (Print)0905949102
    Publication statusPublished - 11 Sep 1991
    Event8th International Conference on systems engineering - Coventry, Coventry, United Kingdom
    Duration: 10 Sep 199112 Sep 1991

    Conference

    Conference8th International Conference on systems engineering
    Country/TerritoryUnited Kingdom
    CityCoventry
    Period10/09/9112/09/91

    Keywords

    • motion-planning, machinery, obstacle, trajectory , actuator, obstacles .

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