Automatic off-line programming and motion planning for industrial robots

摘要

Abstract- This paper discusses the problem of automatic off-line programming and motion planning for industrial robots. At first, a new concept consisting of three steps is proposed. The first step, a new method for on-line motion planning is in-troduced. The motion planning method i s based on the A*-search algorithm and works in the implicit configuration space. During searching, the collisions are de-tected in the explicitly represented Carte-sian workspace by hierarchical distance computation. In the second step, the tra-jectory planner has to transform the path into a time and energy optimal robot pro-gram. The practical application of these two steps strongly depends on the method for robot calibration with high accuracy, thus, mapping the virtual world onto the real world, which is discussed in the third step.