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Proceedings Paper

Path-planning editor for kinematically redundant robots
Author(s): Hari Das; Sukhan Lee
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Paper Abstract

A computer aid is proposed in this paper for planning paths for redundant robots. The aid, called a Path Planning Editor (PPE), allows a user to specify the complete configuration for a redundant robot over a desired path. Powerful visualization features in the PPE help the user make decisions on configuration selection for the robot. Visualization is offered not only of the robot motion but also of the optimization criterion function plotted over the redundant space. A demonstration of these ideas has been implemented using two graphic workstations for 3-D visualization and a third computer for the user interface designed using the X Window system. The robot chosen for the application is the 8 degrees of freedom AAI robot used in the Advanced Teleoperation Laboratory of JPL. Details of the implementation are described and suggestions are made for improvement of the PPE in this paper.

Paper Details

Date Published: 26 March 1993
PDF: 10 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142114
Show Author Affiliations
Hari Das, Jet Propulsion Lab. (United States)
Sukhan Lee, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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