Publication
Manipulator path planning for pick-and-place operations with obstacles avoidance: an A* algorithm approach
| dc.contributor.author | Silva, João | |
| dc.contributor.author | Costa, Pedro | |
| dc.contributor.author | Lima, José | |
| dc.date.accessioned | 2014-07-09T10:07:01Z | |
| dc.date.available | 2014-07-09T10:07:01Z | |
| dc.date.issued | 2013 | |
| dc.description.abstract | This paper presents a path planning method for pick-and-place operations with obstacles in the work environment. The method developed is designed to plan the motion of an anthropomorphic manipulator in cluttered environments. The graph search algorithm A* applied to the configuration free space is used to calculate the shortest path between two points avoiding collisions with obstacles and joint limitations. Applying this algorithm in a six dimension space presents some constraints related to memory consumption and processing time, which were tackled using configuration space partition and selecting neighbourhood cells, respectively. Using the configuration space makes it possible for the entire robot body to avoid collisions with obstacles. Moreover, the system implemented proves that applying A* in high dimension configuration spaces is possible with admissible results. | por |
| dc.description.sponsorship | This work is financed by the ERDF -European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) and by National Funds through the FCT -Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) within project “PRODUTECH_PTI /FCOMP-01-02-FEDER -013851” | |
| dc.identifier.citation | Silva, João; Costa, Pedro; Lima, José (2013). Manipulator path planning for pick-and-place operations with obstacles avoidance: an A* algorithm approach. In FAIM 2013 - International Conference Flexible Automation and Intelligent Manufacturing. Porto: Springer. ISBN 978-3-642-39222-1 | por |
| dc.identifier.uri | http://hdl.handle.net/10198/9876 | |
| dc.language.iso | eng | por |
| dc.peerreviewed | yes | |
| dc.relation | PRODUTECH_PTI / FCOMP-01-02-FEDER-013851 | |
| dc.title | Manipulator path planning for pick-and-place operations with obstacles avoidance: an A* algorithm approach | por |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Porto | por |
| oaire.citation.title | FAIM 2013 - International Conference Flexible Automation and Intelligent Manufacturing | por |
| person.familyName | Lima | |
| person.givenName | José | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 55851941311 | |
| rcaap.rights | restrictedAccess | por |
| rcaap.type | conferenceObject | por |
| relation.isAuthorOfPublication | d88c2b2a-efc2-48ef-b1fd-1145475e0055 | |
| relation.isAuthorOfPublication.latestForDiscovery | d88c2b2a-efc2-48ef-b1fd-1145475e0055 |
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