TY - GEN
T1 - Calculation of SCARA manipulator optimal path subject to constraints
AU - Pillajo, Carlos
PY - 2013/12/1
Y1 - 2013/12/1
N2 - The proposed general the problem of optimization for motion planning of articulated SCARA robotic structures, whose trajectories are subject to constraints, the stated objective is to obtain a sequence of collision-free positions that connect an initial configuration with end using search strategies based on heuristics working space, for which we use the space of the configurations. In order to evaluate the performance of this algorithm, we generated, simulated different work environments and the subsequent display of the planned collision-free paths, applied to articulated SCARA robot. To corroborate this work later this algorithm is implemented on an FPGA allowing varying some basic features of the robot.
AB - The proposed general the problem of optimization for motion planning of articulated SCARA robotic structures, whose trajectories are subject to constraints, the stated objective is to obtain a sequence of collision-free positions that connect an initial configuration with end using search strategies based on heuristics working space, for which we use the space of the configurations. In order to evaluate the performance of this algorithm, we generated, simulated different work environments and the subsequent display of the planned collision-free paths, applied to articulated SCARA robot. To corroborate this work later this algorithm is implemented on an FPGA allowing varying some basic features of the robot.
KW - Dijkstra Algorithm
KW - Optimal Path
KW - SCARA Robot
UR - http://www.scopus.com/inward/record.url?scp=84893664457&partnerID=8YFLogxK
U2 - 10.1109/CIIMA.2013.6682791
DO - 10.1109/CIIMA.2013.6682791
M3 - Conference contribution
AN - SCOPUS:84893664457
SN - 9781479924714
T3 - 2013 2nd International Congress of Engineering Mechatronics and Automation, CIIMA 2013 - Conference Proceedings
BT - 2013 2nd International Congress of Engineering Mechatronics and Automation, CIIMA 2013 - Conference Proceedings
T2 - 2013 2nd International Congress of Engineering Mechatronics and Automation, CIIMA 2013
Y2 - 23 October 2013 through 25 October 2013
ER -