Robot Motion Planning in Flexible Manufacturing Systems
摘要
This paper presents the approaches to real-time motion planning for robot application inflexible manufacturing systems(FMS).They are based on an algorithm for fast mapping ob-stacles from a workspace(W-space)into a configuration space(C-space)by defining funda-mental obstacles in W-space.To plan a collision-free path in a multiple robot system,sweptvolumes produced during master robot motion are computed as additional moving obstacleswhen a collision-free path for a slave robot is generated.For motion planning with many de-grees of freedom,several types of reactive behavior are defined to coordinate motion conflictsbetween different links.
引用本文（GB/T 7714）
Wei Li. Robot Motion Planning in Flexible Manufacturing Systems[J]. 高技术通讯：英文版, 1996.
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