Calculation of SCARA manipulator optimal path subject to constraints

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2 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2013 2nd International Congress of Engineering Mechatronics and Automation, CIIMA 2013 - Conference Proceedings
DOI
EstadoPublicada - 1 dic. 2013
Evento2013 2nd International Congress of Engineering Mechatronics and Automation, CIIMA 2013 - Bogota, Colombia
Duración: 23 oct. 201325 oct. 2013

Serie de la publicación

Nombre2013 2nd International Congress of Engineering Mechatronics and Automation, CIIMA 2013 - Conference Proceedings

Conferencia

Conferencia2013 2nd International Congress of Engineering Mechatronics and Automation, CIIMA 2013
País/TerritorioColombia
CiudadBogota
Período23/10/1325/10/13

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