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Trajectory planning for scara robot in C-space (CROSBI ID 464546)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Crneković, Mladen Trajectory planning for scara robot in C-space // Proceedings of the 7th International DAAAM Symposium / Branko Katalinić (ur.). DAAAM International Vienna, 1996. str. 89-90-x

Podaci o odgovornosti

Crneković, Mladen

engleski

Trajectory planning for scara robot in C-space

The main precaution in robot intelligent behavior is its ability of path planning in the presence of obstacles. It is assumed that obstacles position, orientation and dimensions are well known. Planned path have to be collision free, i.e. any part of robot or manipulated object may not be in touch by any obstacle during the motion along the path. Several methods are developed for this purpose. Common idea is to make a mathematical model of space with obstacle description. One of the most popular and general method is configuration space or C-space. In the C-space all objects (robot and obstacles) are point-like objects. Searching in the C-space with gras-fire algorithm has been done.

robotics; path planning; c-space

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Podaci o prilogu

89-90-x.

1996.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 7th International DAAAM Symposium

Branko Katalinić

DAAAM International Vienna

Podaci o skupu

7th International DAAAM symposium

predavanje

19.10.1996-19.10.1996

Beč, Austrija

Povezanost rada

Strojarstvo