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Communication Dans Un Congrès Année : 1993

A trajectory generation module for 2D and 2D1/2 environment

Résumé

A trajectory generation module for a mobile robot in a 2D environment and for a robot arm in a 2D1/2 environment made of low height objects placed on a work surface is discussed. For the mobile robot, the problem of driving into a narrow corridor is solved by means of a backtracking process. Obstacle avoidance is carried out by taking into account only the wrist and the end effector of the robot. This allows the determination of a grasping configuration of convex and concave objects, and allows the choice of the shortest, collision-free trajectory.
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Dates et versions

hal-03243645 , version 1 (31-05-2021)

Identifiants

Citer

Malik Mallem, Sébastien Rougeaux, H. Mellanger, Florand Chavand. A trajectory generation module for 2D and 2D1/2 environment. 1993 CompEuro Computers in Design, Manufacturing, and Production, May 1993, Evry, France. pp.478-486, ⟨10.1109/CMPEUR.1993.289837⟩. ⟨hal-03243645⟩
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