Neural network approach to collision free path-planning for robotic manipulators

Detalhes bibliográficos
Autor(a) principal: Pashkevich, A.
Data de Publicação: 2006
Outros Autores: Kazheunikau, M., Ruano, Antonio
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.1/2249
Resumo: The paper deals with collision free path-planning for industrial robotic manipulators A new efficient approach is proposed that is based on the topologically ordered neural network model. This model describes harmonic potential field of the robot configuration space, sampled by the non-regular grid. The developed path-planning algorithm takes into account highly-irregular shape of the obstacles of welding and assembling robotic cells, and provides reduced number of collision checking. The stability of the topologically ordered neural network is investigated. The algorithm has been successfully applied to the off-line programming of a robotic manufacturing cell for the automotive industry.
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spelling Neural network approach to collision free path-planning for robotic manipulatorsRobotic manipulatorsConfiguration spaceNeural networksOff-line programmingThe paper deals with collision free path-planning for industrial robotic manipulators A new efficient approach is proposed that is based on the topologically ordered neural network model. This model describes harmonic potential field of the robot configuration space, sampled by the non-regular grid. The developed path-planning algorithm takes into account highly-irregular shape of the obstacles of welding and assembling robotic cells, and provides reduced number of collision checking. The stability of the topologically ordered neural network is investigated. The algorithm has been successfully applied to the off-line programming of a robotic manufacturing cell for the automotive industry.Taylor & FrancisSapientiaPashkevich, A.Kazheunikau, M.Ruano, Antonio2013-02-07T13:52:00Z20062013-01-26T18:48:10Z2006-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.1/2249engPashkevich, A.; Kazheunikau, M.; Ruano, A. E. Neural network approach to collision free path-planning for robotic manipulators, International Journal of Systems Science, 37, 8, 555-564, 2006.0020-7721AUT: ARU00698;info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-24T10:13:16Zoai:sapientia.ualg.pt:10400.1/2249Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:56:07.612288Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Neural network approach to collision free path-planning for robotic manipulators
title Neural network approach to collision free path-planning for robotic manipulators
spellingShingle Neural network approach to collision free path-planning for robotic manipulators
Pashkevich, A.
Robotic manipulators
Configuration space
Neural networks
Off-line programming
title_short Neural network approach to collision free path-planning for robotic manipulators
title_full Neural network approach to collision free path-planning for robotic manipulators
title_fullStr Neural network approach to collision free path-planning for robotic manipulators
title_full_unstemmed Neural network approach to collision free path-planning for robotic manipulators
title_sort Neural network approach to collision free path-planning for robotic manipulators
author Pashkevich, A.
author_facet Pashkevich, A.
Kazheunikau, M.
Ruano, Antonio
author_role author
author2 Kazheunikau, M.
Ruano, Antonio
author2_role author
author
dc.contributor.none.fl_str_mv Sapientia
dc.contributor.author.fl_str_mv Pashkevich, A.
Kazheunikau, M.
Ruano, Antonio
dc.subject.por.fl_str_mv Robotic manipulators
Configuration space
Neural networks
Off-line programming
topic Robotic manipulators
Configuration space
Neural networks
Off-line programming
description The paper deals with collision free path-planning for industrial robotic manipulators A new efficient approach is proposed that is based on the topologically ordered neural network model. This model describes harmonic potential field of the robot configuration space, sampled by the non-regular grid. The developed path-planning algorithm takes into account highly-irregular shape of the obstacles of welding and assembling robotic cells, and provides reduced number of collision checking. The stability of the topologically ordered neural network is investigated. The algorithm has been successfully applied to the off-line programming of a robotic manufacturing cell for the automotive industry.
publishDate 2006
dc.date.none.fl_str_mv 2006
2006-01-01T00:00:00Z
2013-02-07T13:52:00Z
2013-01-26T18:48:10Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.1/2249
url http://hdl.handle.net/10400.1/2249
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Pashkevich, A.; Kazheunikau, M.; Ruano, A. E. Neural network approach to collision free path-planning for robotic manipulators, International Journal of Systems Science, 37, 8, 555-564, 2006.
0020-7721
AUT: ARU00698;
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Taylor & Francis
publisher.none.fl_str_mv Taylor & Francis
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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