Obstacle-free Workspace based Path Planning for Serial Manipulator
作者单位：School of Electrical EngineeringHenan University of Technology
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：funding from the Key Scientific Research Projects of Institutions of Higher Learning in Henan Province(No.16A413003,13B413941) the Nature Science Foundation of China(No.61403124)
关 键 词：Obstacle-free workspace(OFW) Path planning Robot manipulator Mathematical set Computer graphics
摘 要：A path planning method based on an Obstacle-free workspace（abbreviated as OFW） is proposed for collision-free movements of multi-joint serial ***,based on Monte Carlo and computer graphics,the planning path for a three revolute joints（3R） planar manipulator was created in the ***,the path of a spatial manipulator was obtained by taking advantage of the rapidly-exploring random tree（RRT） method within the ***,the corresponding algorithms were described in the frame of mathematical set and the paths illustrated in a series of *** the manipulators,the 3R planar and the spatial,were modeled by the D-H coordinates method in MATLAB Robotics Toolbox.