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Dynamic Programming in Robot Path Planning

  • Sašo Flac
  • Peter Cafuta
  • Karel Jezernik
Conference paper

Abstract

The paper presents the procedure of the collision free robot paths planning. Mathematical theory of dynamic programming, developed by R. Bellman has been use as a support. By the application of this mathematical tool, the field of optimal directions and the shortest path in the space of joint coordinates is calculated. The obstacles placed in the working space are treated in the space of joint coordinates.

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References

  1. [1]
    GERKE W.; Die dynamische Programmaainung zur Planung kuerzester kollisionsfreier Bahnen fuer Industrieroboter; Robotersysteme 1/ 1985, Seite 43–52 Google Scholar
  2. [2]
    PFEIFER F., REITMEIER E.; Roboterdynamik; Teubner Stuttgart 1987 Google Scholar
  3. [3]
    JEZERNIK K., CURK B., GOTLIH K., CAFUTA P.; Laboratory axle module for research of robot drives and algorithms; Proceedings: 5. Yugoslav symposium for applied robotics and flexible automation, page no. 351 - 357, Bled 1987 (Published in Slovene) Google Scholar

Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Sašo Flac
    • 1
  • Peter Cafuta
    • 1
  • Karel Jezernik
    • 1
  1. 1.Faculty of Technical Sciences MariborMariborSlovenia

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