Minimum distance collision-free path planning for industrial robots with a prismatic joint

DOI10.1109/TAC.1984.1103640zbMATH Open0541.93051MaRDI QIDQ3329327FDOQ3329327

Authors J. Y. S. Luh, Charles E. Jun. Campbell

Publication date 1984

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

zbMATH Keywords

algorithmcollision-free pathindustrial robotprismatic jointpseudoobstaclesstationary obstacles

Mathematics Subject Classification ID

Numerical optimization and variational techniques (65K10) Quadratic programming (90C20) Control of mechanical systems (70Q05) Model systems in control theory (93C99) Collision of rigid or pseudo-rigid bodies (70F35)

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Cited in

(6)

• Real-time collision-free path planning for robots in configuration space
• Optimal control of robotic manipulators in the presence of obstacles
• Exponential control-based fixed/preassigned-time synchronization of output-coupled spatiotemporal networks with directed topology
• Pseudo minimum translational distance between convex polyhedra. I. Definition and properties
• Pseudo minimum translational distance between convex polyhedra. II. Robot collision-free path planning
• Minimal distance calculation between the industrial robot and its workspace based on circle/polygon-slices representation

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