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.;
2012-01-01
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 procedureI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
