TY - GEN
T1 - Efficient method for generating pick-and-place trajectory over obstacles
AU - Potter, James J.
AU - Sorensen, Khalid L.
AU - Singhose, William E.
PY - 2010
Y1 - 2010
N2 - This paper presents a method to compute a two-dimensional pick-and-place trajectory over an arbitrary number of obstacles. The method is computationally simple, making it well-suited for implementation on machines that must generate solutions in real time. The method finds a minimum trajectory height that yields a collision-free planar trajectory with minimum duration. The method employs a user-specified program to convert desired travel distances into velocity profiles. Two example programs are given. Velocity profile schemes can be designed to address trajectory objectives, such as in-plane time optimality, or vibration reduction. An industrial case study is presented.
AB - This paper presents a method to compute a two-dimensional pick-and-place trajectory over an arbitrary number of obstacles. The method is computationally simple, making it well-suited for implementation on machines that must generate solutions in real time. The method finds a minimum trajectory height that yields a collision-free planar trajectory with minimum duration. The method employs a user-specified program to convert desired travel distances into velocity profiles. Two example programs are given. Velocity profile schemes can be designed to address trajectory objectives, such as in-plane time optimality, or vibration reduction. An industrial case study is presented.
KW - Manufacturing automation
KW - Motion planning
UR - https://www.scopus.com/pages/publications/84858838322
U2 - 10.2316/P.2010.706-054
DO - 10.2316/P.2010.706-054
M3 - Conference contribution
AN - SCOPUS:84858838322
SN - 9780889868625
T3 - Proceedings of the IASTED International Conference on Robotics and Applications
SP - 276
EP - 283
BT - Proceedings of the IASTED International Conference on Robotics and Applications, RA 2010
T2 - IASTED International Conference on Robotics and Applications, RA 2010
Y2 - 1 November 2010 through 3 November 2010
ER -