CEBCE (COLLISION EVASION BY COLLISION EVALUATION) AN APPROACH FOR COLLISION FREE MOTION PLANNING FOR OFFLINE PROGRAMMING OF INDUSTRIAL ROBOTS

摘要

This paper describes a new approach for automatic Robot Motion Planning within an Offline Programming Tool. The robot will be able to move from a start to a goal position within the simulation without any collisions. The algorithm generates in the first step a path that consists of the direct line from the start to the goal configuration in the configuaration space. In the following steps this starting path is moved out of possible collisions. This is done by adding a new point in the path at the most colliding configuration and moving this point out of the collision. The most colliding configuration is found by scaling down all links of the robot to their joints, until the scaled robot does not collide any more. The more the robot has to be scaled down the worse the collision was. Collision tests are only done at interesting configurations. There is no need to precalculate possible collisions at the whole configuaration space. In addition to the collision test, the algorithm gets some information about the "badness" of the collision by the downscaling of the robot. By this the algorithm is able to transfer some information from the robot's workspace in the configuaration space. Our tests show that this algorithm is able to generate collision free paths very fast, even for robots with many degrees of freedom.