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Dynamic and interactive path planning and collision avoidance for an industrial robot using artificial potential field based method

: Csiszar, Akos; Drust, Manuel; Dietz, Thomas; Verl, Alexander; Brisan, Cornel


Jablonski, Ryszard (Hrsg.):
Mechatronics. Recent technological and scientific advances : Selected contributions presented at the 9th International Conference Mechatronics 2010, organized by Faculty of Mechatronics, Warsaw University of Technology, on September 21 - 24, in Warsaw, Poland
Berlin: Springer, 2011
ISBN: 3-642-23243-4
ISBN: 978-3-642-23243-5
ISBN: 978-3-642-23244-2
International Conference Mechatronics <9, 2011, Warsaw>
Conference Paper
Fraunhofer IPA ()
industrial robot; path planning; Kollisionsvermeidung; Bahnplanung; Industrieroboter

In this paper the dynamic path planning with collision avoidance of an industrial robot is addressed. The Artificial Potential Field (APF) method is used and, as a contribution, it has been expanded with obstacle-charges having different geometrical forms in order to positively influence the generated trajectory. Also an analysis method is presented that ensures that no violation of a specified safety envelope can occur around the obstacles. Implementation of the theoretical consideration and experimental validation using industrial equipment is shown.