Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out successfully.
|Series||Proceedings of SPIE|
|Conference||Intelligent Robots and Computer Vision XVIII|
|Abbreviated title||Photonics East '99|
|Period||20/09/99 → 21/09/99|