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A contribution to collision-free trajectory planning for handling systems in varying environments

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Abstract

In highly flexible and complex handling systems the risk of collision of moving machine components is continuously increasing. When, for example, several robots share the same workspace and the environment in the workspace is changing due to the operation, the robot trajectories can no longer be planned in advance without the risk of collision. The objective of this paper is the collision-free motion planning of handling system manipulators from the start to the end position within a changing environment. For this purpose, the trajectories on the control system have to be planned during the operating time most efficiently depending on the current state of a varying environment. This paper describes a new approach for trajectory planning based on curve shortening flows combined with potential fields. The functional capability of the method will be demonstrated initially on a simple robot kinematics with two degrees of freedom.

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Acknowledgments

The authors Konrad Groh and Sascha Röck would like to thank the German Research Foundation (DFG) for financial support of the project within the Cluster of Excellence in Simulation Technology (EXC 310/1) and the Graduate School of advanced Manufacturing and Engineering (GSaME) at the University of Stuttgart. We also appreciate very much that Alexander Verl, director of the Institute for Control Engineering of Machine Tools and Manufacturing Systems (ISW), strongly supported our work.

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  1. Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart, Stuttgart, Germany

    Konrad Groh & Sascha Röck

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  1. Konrad Groh
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  2. Sascha Röck
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Correspondence to Sascha Röck.

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Groh, K., Röck, S. A contribution to collision-free trajectory planning for handling systems in varying environments. Prod. Eng. Res. Devel. 4, 101–106 (2010). https://doi.org/10.1007/s11740-009-0202-0

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  • DOI: https://doi.org/10.1007/s11740-009-0202-0

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