Advertisement

Path Planning

  • Reza N. Jazar
Chapter

Abstract

Path planning includes three tasks: 1–Defining a geometric curve for the end-effector between two points. 2–Defining a rotational motion between two orientations. 3–Defining a time function for variation of a coordinate between two given values. All of these three definitions are called path planning. Figure 13.1 illustrates a path of the tip point of a 2R manipulator between points P1 and P2 to avoid two obstacles.

Keywords

Path Planning Inverse Kinematic Transition Path Circular Path Cartesian Space 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

  1. Asada, H., and Slotine, J. J. E., 1986, Robot Analysis and Control, John Wiley & Sons, New York.Google Scholar
  2. Fahimi, F., 2009, Autonomous Robots: Mdeling, Path Planing, and Control, Springer, New York.Google Scholar
  3. Murray, R. M., Li, Z., and Sastry, S. S. S., 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, Florida.Google Scholar
  4. Niku, S. B., 2001, Introduction to Robotics: Analysis, Systems, Applications, Prentice Hall, New Jersey.Google Scholar
  5. Spong, M.W., Hutchinson, S., and Vidyasagar, M., 2006, Robot Modeling and Control, John Wiley & Sons, New York.Google Scholar

Copyright information

© Springer Science+Business Media, LLC 2010

Authors and Affiliations

  1. 1.School of Aerospace, Mechanical, and Manufacturing EngineeringRMIT UniversityMelbourneAustralia

Personalised recommendations