کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
699903 | 890811 | 2012 | 9 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Heuristic solution for constrained 7-DOF motion planning in 3D scanning application
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper proposes a heuristic algorithm for near-optimal handling of the redundancy in robot mechanisms, applied to a 3D scanning platform consisting of a 6-DOF articulated robot arm which moves a laser sensor around a workpiece placed on a rotary table. The proposed method handles both static constraints, like avoiding joint limits, kinematic singularities or collisions, modelled using a configuration map viewed as a grayscale image, and dynamic constraints like velocity and acceleration. The algorithm is compared with Dijkstra algorithm, which gives the optimal solution, but is very slow, and with two other heuristics which are very fast, but give suboptimal solutions.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 20, Issue 2, February 2012, Pages 93–101
Journal: Control Engineering Practice - Volume 20, Issue 2, February 2012, Pages 93–101
نویسندگان
Theodor Borangiu, Alexandru Dumitrache, Anamaria Dogar,