Motion planning under environment with obstacles for Rhino XR-2 robot

Abstract

Automatic planning of robot motions requires the ability to plan paths and trajectories that avoid collisions with obstacles in the work space and the ability to choose safe grasp points on objects. An approach to the obstacle avoidance problem is presented that is based on the method of computing a path from an explicit representation of the object``s configurations that could bring about a collision. Studies on control of robot motions are done : a strategy to determine grasp configuration is discussed and trajectory equations to reduce the loads on links are proposed. Based on a "C" implementation of these, an assembly operation, moving and inserting a peg in a hole, is experimented with Rhino XR-2 robot under VAX 11-780/UNIX.