Potential-based path planning for robot manipulators

2005 ◽  
Vol 22 (6) ◽  
pp. 313-322 ◽  
Author(s):  
Chien-Chou Lin ◽  
Lo-Wei Kuo ◽  
Jen-Hui Chuang
Keyword(s):  
Path Planning ◽  
Robot Manipulators

Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion

2018 ◽  
Author(s):  
C.E. Cea-Montufar ◽  
E.A. Merchan-Cruz ◽  
J. Ramirez-Gordillo ◽  
E. Vergara-Hernandez ◽  
M.A. Cerro-Ramirez
Keyword(s):  
Path Planning ◽  
Robot Manipulators ◽  
Dual Quaternion ◽  
Multi Objective

Straight Line Path-Planning in Visual Servoing

2007 ◽  
Vol 129 (4) ◽  
pp. 541-543 ◽  
Author(s):  
Graziano Chesi ◽  
Domenico Prattichizzo ◽  
Antonio Vicino
Keyword(s):  
Euclidean Space ◽  
Path Planning ◽  
Visual Servoing ◽  
Robot Manipulators ◽  
Degree Of Freedom ◽  
Field Of View ◽  
Straight Line ◽  
Planning Technique ◽  
Line Path

This paper deals with visual servoing for 6-degree-of-freedom robot manipulators, and considers the problem of establishing whether and how it is possible to reach the desired location while keeping all features in the field of view and following a straight line in the Euclidean space. A path-planning technique based on a parametrization of the camera path through polynomials is proposed, which overcomes existing methods dealing with this problem. The generated image trajectory can be tracked by using an image-based visual servoing controller.

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