期刊
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
卷 75, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2021.102289
关键词
Collision detection; Path planning; Node placement; Robot operating system; SH-FMT*
资金
- Advanced Institute of Manufacturing with High-Tech Innovation (AIM-HI) a
- Center for Innovative Research on Aging Society (CIRAS) from The Featured Areas Research Center Program
With the rise of Industry 4.0, robot manipulators play a crucial role in achieving high productivity. However, building an efficient and safe work environment with robot manipulators remains a hardware capability challenge. To address path planning issues, we propose a joint space-based path planning method that enables real-time path planning speed.
With the emergence of Industry 4.0, high productivity is critically dependent on robot manipulators. However, building an efficient and safe work environment with robot manipulators remains a challenge of hardware capability. The optimal path planning of the robot manipulator usually encounters shortcomings in low computational speed and tedious training after changing assembly lines and increases the risk during human- robot collaboration (HRC). To solve such a problem, we propose a path planning, named slice-based heuristic fast marching tree, based on joint space to achieve real-time path planning speed without modeling or training the workspace in advance. Our experimental results indicate that the time consumed for path planning in static environments is only from 0.51 s to 1.63 s, tested by a 6-DOF general-purpose industrial manipulator and different cylindrical obstacle placements. The time for path replanning in dynamic environments is from 0.62 s to 0.88 s.
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