Direct step-by-step method for industrial robot path planning

Francisco Rubio; Francisco Valero; Joseph Sunyer; Vicente Mata

doi:10.1108/01439910910994669

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Industrial Robot: An International Journal

ISSN: 0143-991X

Online from: 1973

Subject Area: Mechanical & Materials Engineering

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Direct step-by-step method for industrial robot path planning

Document Information:
Title:	Direct step-by-step method for industrial robot path planning
Author(s):	Francisco Rubio, (Department of Mechanical Engineering, Universidad Politecnica de Valencia, Valencia, Spain), Francisco Valero, (Department of Mechanical Engineering, Universidad Politecnica de Valencia, Valencia, Spain), Joseph Sunyer, (Department of Mechanical Engineering, Universidad Politecnica de Valencia, Valencia, Spain), Vicente Mata, (Department of Mechanical Engineering, Universidad Politecnica de Valencia, Valencia, Spain)
Citation:	Francisco Rubio, Francisco Valero, Joseph Sunyer, Vicente Mata, (2009) "Direct step-by-step method for industrial robot path planning", Industrial Robot: An International Journal, Vol. 36 Iss: 6, pp.594 - 607
Keywords:	Control systems, Programming and algorithm theory, Robotics
Article type:	Research paper
DOI:	10.1108/01439910910994669 (Permanent URL)
Publisher:	Emerald Group Publishing Limited
Acknowledgements:	The authors would like to thank the Foreign Language Coordination Office at the Polytechnic University of Valencia for their help in revising this paper. Also this paper has been possible thanks to the funding of Spanish Education and Science Ministry by means of the Researching and Technologic Development Project DPI2005-08732-C02-01 which is also supported by FEDER funds.
Abstract:	Purpose – The purpose of this paper is to solve the path-planning problem of industrial robots in complex environments. Design/methodology/approach – A direct method (in each step, the path is been recorded) is presented in which the search of the path is made in the state space of the robotic system, and it makes use of the information generated about the characteristics of the process, introducing graph techniques for branching. The method poses an optimization problem that aims at minimizing the distance travelled by the significant points of the robot. Findings – A new approach to solve the path-planning problem has been introduced in which the behaviour of three operational parameters (computational time, distance travelled and number of configurations generated) have been analyzed so that the user can choose the most efficient algorithm depending on which parameter he is most interested in. Research limitations/implications – A new technique has been introduced which yields good results as the examples show. Practical implications – The algorithm is able to obtain the solution to the path-planning problem for any industrial robot working in a complex environment. Originality/value – Gives a new tool for solving the path-planning problem.