The scientific problem of constructing the optimal spatial trajectory of the gripper relative to the fixed base of the manipulator strut is considered taking into account the obstacle bypass. A new hybrid ABI method has been developed for constructing the optimal trajectory of the manipulator's grip taking into account obstacle avoidance. The ABI hybrid method has six main steps. The method combines a finite element mesh approach, a graph model construction method, A * method for finding the minimum path for a graph, a B-spline interpolation method, polynomial approximation, and a matrix method. The practical construction of the optimal trajectory of the grip of the manipulator is taking into account the avoidance of obstacles. A theorem is presented that determines the relationship between the length of time the manipulator grip moves in equally accelerated and equally slow sections. The theorem is used for the subsequent optimization of the manipulator travel time in sections.


    Access

    Download


    Export, share and cite



    Title :

    A Hybrid Method for Constructing Optimal Motion Path for Robot Manipulators While Avoiding Obstacles



    Publication date :

    2020-04-25


    Remarks:

    Proceedings of the 26th FRUCT conference 26 507-513



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Mobile robot capable of avoiding dynamic obstacles

    YUAN SHENG / JIANG RUHAI / LIU YUE et al. | European Patent Office | 2023

    Free access


    METHOD FOR AVOIDING OBSTACLES

    BRUNO GEOFFREY / DO ANH-LAM / LEHIM MAROUANE | European Patent Office | 2024

    Free access

    Method for avoiding obstacles

    BRUNO GIANMARCO / DO A-LAN / RAHIM MUHAMMAD | European Patent Office | 2023

    Free access

    Snow shoveling robot capable of automatically avoiding obstacles

    WU XIAOYAN / WANG SHU / FANG ZHIGANG et al. | European Patent Office | 2024

    Free access