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Planning collision-free movements of a robot: A systems theory approach*

Published online by Cambridge University Press:  09 March 2009

W. Jacak,
B. Lysakowska and
I. Sierocki
W. Jacak
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, ul. Janiszewskiego 11/17, 50–370 Wroclaw (Poland)
B. Lysakowska
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, ul. Janiszewskiego 11/17, 50–370 Wroclaw (Poland)
I. Sierocki
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, ul. Janiszewskiego 11/17, 50–370 Wroclaw (Poland)
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Summary

In the paper we present system-theoretic descriptions of the robot's kinematics models, in a discrete and discretized workspace. For those descriptions, the problem of planning collision-free trajectories of motion is stated and represented as a classical problem of optimizing the behaviour of dynamical system.

Keywords

Collision-freeMovementRobotSystems Theory

Information

Type
Research Article
Information
Robotica , Volume 6 , Issue 4 , October 1988, pp. 289 - 296
Copyright
Copyright © Cambridge University Press 1988

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