Journal Article10.1016/J.RCIM.2008.05.002
Robot programming using augmented reality: An interactive method for planning collision-free paths
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TL;DR: The use of an augmented reality (AR) environment for facilitating intuitive robot programming, and a novel methodology for planning collision-free paths for an n-d.o.f. (degree-of-freedom) manipulator in a 3D AR environment are presented.
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Abstract: Current robot programming approaches lack the intuitiveness required for quick and simple applications. As new robotic applications are being identified, there is a greater need to be able to programme robots safely and quickly. This paper discusses the use of an augmented reality (AR) environment for facilitating intuitive robot programming, and presents a novel methodology for planning collision-free paths for an n-d.o.f. (degree-of-freedom) manipulator in a 3D AR environment. The methodology is interactive because the human is involved in defining the free space or collision-free volume (CFV), and selecting the start and goal configurations. The methodology uses a heuristic beam search algorithm to generate the paths. A number of possible scenarios are discussed.
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Principles of Robot Motion: Theory, Algorithms, and Implementations
Howie Choset,Jean-Claude Latombe +1 more
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TL;DR: In this paper, the mathematical underpinnings of robot motion are discussed and a text that makes the low-level details of implementation to high-level algorithmic concepts is presented.
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Time-Optimal Control of Robotic Manipulators Along Specified Paths:
TL;DR: In this paper, the minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known, and the optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system.