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Proceedings Paper

Planning of collision-free paths for holonic Blastman robots
Author(s): Mika Rintala; Tapio A. Heikkila
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Paper Abstract

Collision freeness is an essential feature in off-line programming of robots. It relates to safe and efficient operation, and becomes even more critical, when two or more robots are sharing the same work space, which is typical for so called holonic robot systems. Here we are reporting a simple and fast path planning algorithm based on configuration space method, suitable for holonic robot applications. The basic version of the algorithm can be found from the literature, and we have extended and modified it to improve its feasibility. Simulation and experimental tests have been carried out successfully.

Paper Details

Date Published: 6 October 1998
PDF: 10 pages
Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); doi: 10.1117/12.325773
Show Author Affiliations
Mika Rintala, Blastman Robotics Ltd. (Finland)
Tapio A. Heikkila, VTT Automation (Finland)


Published in SPIE Proceedings Vol. 3522:
Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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