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A Heuristic Approach for Constrained Real Time Motion Planning of a Redundant 7-DOF Mechanism for 3D Laser Scanning
Information Control Problems in Manufacturing, Volume # 13 | Part# 1
Authors
Borangiu, Theodor; Dogar, Anamaria; Dumitrache, Alexandru
Identifier
10.3182/20090603-3-RU-2001.00202
Index Terms
Robotic Systems; Optimization and Control; Manufacturing System Engineering
Abstract
This article presents a heuristic algorithm for motion planning of a short range 7-DOF Laser Scanning System consisting of a 6-DOF vertical robot arm and a rotary table holding the workpiece. The redundancy of the mechanism is exploited for specifying certain constraints such as imposing a smooth motion of the rotary table while respecting the acceleration and speed limits and avoiding undesirable configurations of the robot arm such as the kinematic singularities, out-of-range conditions and collisions between the mechanical elements of the system (robot, table, workpiece and laser probe). The paper also presents the control system of the rotary table, and a communication protocol which allows the integration of the above-mentioned planning algorithm into the 3D scanning system.
References
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