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EnglishThis 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
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| Titolo: | Collision free trajectory planning for hybrid manipulators |
| Autori: | |
| Data di pubblicazione: | 2012 |
| Rivista: | |
| 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 |
| Handle: | http://hdl.handle.net/20.500.11770/301879 |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
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http://hdl.handle.net/20.500.11770/301879
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