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
GERKE W.; Die dynamische Programmaainung zur Planung kuerzester kollisionsfreier Bahnen fuer Industrieroboter; Robotersysteme 1/ 1985, Seite 43–52
PFEIFER F., REITMEIER E.; Roboterdynamik; Teubner Stuttgart 1987
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© 1991 Springer-Verlag Wien
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Flac, S., Cafuta, P., Jezernik, K. (1991). Dynamic Programming in Robot Path Planning. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_29
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DOI: https://doi.org/10.1007/978-3-7091-4433-6_29
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82302-6
Online ISBN: 978-3-7091-4433-6
eBook Packages: Springer Book Archive