Dynamic path planning and expert control of the SIR-3 robotic manipulator

This paper presents a path planning algorithm, using a rule-based expert system concept, for real-time control of a robotic manipulator. The algorithm is able to generate three different paths to enable the manipulator to avoid an obstacle and then to select the shortest or the least-segmented path...

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Bibliographic Details
Published inProceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 pp. 97 - 101 vol.1
Main Authors Teoh, E.K., Tan, W.M., Tay, W.Y.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1991
Subjects
Expert systems
Joining processes
Manipulator dynamics
Manufacturing industries
Mathematical model
Path planning
Real time systems
Robotics and automation
Service robots
Virtual manufacturing
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Summary:This paper presents a path planning algorithm, using a rule-based expert system concept, for real-time control of a robotic manipulator. The algorithm is able to generate three different paths to enable the manipulator to avoid an obstacle and then to select the shortest or the least-segmented path to reach the end point. This algorithm requires very little computation time as compared to some techniques. A graphical presentation of the result is also provided on-screen together with a 3D display to enhance the user's visualization of the results obtained. Simulation results showed that with the input data, the algorithm is able to generate the appropriate path and compute the necessary link angles to effect a movement of the links of the manipulator based on the generated path data.< >
ISBN:078030067X
9780780300675
DOI:10.1109/IROS.1991.174433