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Sensory Robotics for the Handling of Limp Materials pp 243–261Cite as

Trajectory Planning and Obstacle Avoidance

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Part of the book series: NATO ASI Series ((NATO ASI F,volume 64))

Abstract

In this paper we enumerate some requirements necessary for a task level language. These are:

  • * How to generate safe paths among obstacles for moving the robot and the object carried, from their initial configuration to the final one.

  • * How to compute grasping positions of given objects.

  • * How to generate fine motions that require sensor interaction.

An algorithm is presented which deals with translating an elliptic object among elliptic obstacles, without collision.

This paper reviews several geometric trajectories required in a robot programming system.

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References

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Author information

Authors and Affiliations

  1. CERT — DERA, Toulouse, France

    Bernadette Gasmi & Claude Reboulet

Authors
  1. Bernadette Gasmi
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  2. Claude Reboulet
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Editor information

Editors and Affiliations

  1. Department of Electronic Engineering, University of Hull, Hull, HU6 7RX, UK

    Paul M. Taylor

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© 1990 Springer-Verlag Berlin Heidelberg

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Gasmi, B., Reboulet, C. (1990). Trajectory Planning and Obstacle Avoidance. In: Taylor, P.M. (eds) Sensory Robotics for the Handling of Limp Materials. NATO ASI Series, vol 64. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-75533-0_17

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  • DOI: https://doi.org/10.1007/978-3-642-75533-0_17

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-75535-4

  • Online ISBN: 978-3-642-75533-0

  • eBook Packages: Springer Book Archive

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