This paper addresses the problem of planning collision free paths for hybrid robots. In particular, the authors propose a procedure for computing optimal trajectories in presence of obstacles. The proposed procedure is based on combining a quick random search algorithm (RRT) with an optimisation method that is efficiently solved by using a genetic algorithm. The proposed procedure has been implemented on a hybrid robot that is composed of an industrial SCARA robot together with CaPaMan (Cassino Parallel Manipulator) that has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Experimental tests have been also carried out in order to validate the effectiveness of the proposed procedure

Collision free trajectory planning for hybrid manipulators

Carbone G.;
2012

Abstract

This paper addresses the problem of planning collision free paths for hybrid robots. In particular, the authors propose a procedure for computing optimal trajectories in presence of obstacles. The proposed procedure is based on combining a quick random search algorithm (RRT) with an optimisation method that is efficiently solved by using a genetic algorithm. The proposed procedure has been implemented on a hybrid robot that is composed of an industrial SCARA robot together with CaPaMan (Cassino Parallel Manipulator) that has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Experimental tests have been also carried out in order to validate the effectiveness of the proposed procedure
Robotics; Hybrid Manipulator; Path Planning
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11770/301879
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