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题名: Path-planning research of robots based on wave expansion algorithm
作者: Liu SC(刘世成) ; Dong ZL(董再励) ; Sun MX(孙茂相) ; Cui MY(崔茂源)
作者部门: 机器人学研究室
会议名称: 2004 Fifth World Congress on Intelligent Control and Automation (WCICA)
会议日期: June 15-19, 2004
会议地点: Hangzhou, China
会议主办者: IEEE
会议录: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2004
页码: 4725-4729
收录类别: EI
摘要: Instead of using the tedious process of robot teaching, an off-line path planning algorithm based on wave expansion method has been developed for industrial robots. The continuous Cartesian W-space in world coordinates is discretized into an equidistant 3D-grid and then the free points and obstacle points are indicated by different numbers. By use of the wave expansion method, the free points are further assigned a marked number. The path is found based on the assigned marked number via wave expansion method. As comparison, depth-first search method is presented. The proposed algorithm is tested on a 6-DOF industrial robot and the expected results are obtained.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8826
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
刘世成; 董再励; 孙茂相; 崔茂源.Path-planning research of robots based on wave expansion algorithm.见:IEEE .Proceedings of the World Congress on Intelligent Control and Automation (WCICA) ,New York,2004,4725-4729
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