Neural network approach to collision free path planning for robotics manipulators

Ruano, Antonio; Pashkevich, A.; Kazheunikau, M.

http://hdl.handle.net/10400.1/2268

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Authors

Ruano, Antonio

Pashkevich, A.

Kazheunikau, M.

Abstract(s)

Abstract: The paper deals with collision free path planning for industrial robotic manipulators. A new efficient algorithm is proposed that is based on a topologically ordered neural network model. This model describes harmonic potential field of the robot configuration space, sampled by non-regular grid. The algorithm has been successfully applied to the off-line programming of a robotic manufacturing cell for the automotive industry.

Keywords

Robotic manipulators Configuration space Neural networks Off-line programming

URI

http://hdl.handle.net/10400.1/2268

Citation

Ruano, A. E.; Pashkevich, A.; Kazheunikau, M. Neural Network Approach to Collision Free Path Planning for Robotics Manipulators, Trabalho apresentado em 6th Portuguese Conference on Automatic Control (Controlo 2004), In 6th Portuguese Conference on Automatic Control (Controlo 2004), Faro, 2004.