Volume 15, Issue 8 (2015)                   Modares Mechanical Engineering 2015, 15(8): 153-163 | Back to browse issues page

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Rezaeifar H, Najafi F. Path planning using via-points and Jerk-minimum method with static obstacles for a 7 DOF manipulator. Modares Mechanical Engineering. 2015; 15 (8) :153-163
URL: http://journals.modares.ac.ir/article-15-12126-en.html
1- School of Mechanical Engineering, College of Engineering, University of Tehran
Abstract:   (1991 Views)
In order to utilize robots for industrial tasks, designing a suitable path is necessary.Executing the path by the robot in the presence of obstacles, makes the path planning task a difficult one. In addition, path planning is a time consuming task and needs expertise to define certain path for each industrial job. In this paper, uses Jerk-minimum method, B-Spline curves, via-point, and obstacle avoidance algorithm to automatically generate a suitable and safe path for a simulated 7 degrees of freedom industrial manipulator.A user determines via-points for robot trajectory using a Kinect sensor,then a combination of Jerk-minimum method, B-Spline curves, a path is generated. This path is checked by an obstacle avoidance algorithm,and a final path is generated. The obstacle avoidance algorithm uses the inverse kinematic equation of the robot to modify the robot trajectory. One of the advantages of the proposed method is both to facilitate trajectory planning for the user and to create a smooth trajectory for the robotic arm.
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Article Type: Research Article | Subject: robatic
Received: 2015/04/25 | Accepted: 2015/06/5 | Published: 2015/06/24

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