文章基本信息

标题：Avoiding the Obstacles in the Robot Working Zone by Using the Lee Algorithm
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作者：Naqib Daneshjo ; Marian Kralik ; Katarina Petrovcikova 等
期刊名称：Advances in Science and Technology Research Journal
印刷版ISSN：2080-4075
电子版ISSN：2299-8624
出版年度：2019
卷号：13
期号：2
页码：72-83
DOI：10.12913/22998624/106239
语种：English
出版社：Society of Polish Mechanical Engineers and Technicians
摘要：Non-collision trajectories of the industrial robot is the key objective when planning its handling cycles. When the robot should move optimally; precise and safely in each situation; it is necessary that every obstacle placed in its transition trajectory would be programmed to avoid. The optimal trajectory means exactly to choose, if possible, the shortest way and the most appropriate for the specific movement to be finished. The task of avoiding obstacles by the industrial robot in its working zone can be solved by various methods and algorithms. The paper shows the use of the kinematics SCARA as a way of avoiding obstacles by a robot in the working zone using the Lee algorithm. The configuration fields and networks are being modelled for the obstacles’ avoidance together with their evaluation and the search for the shortest trajectory reflected in the robot programming.
关键词：Robot working zone; Lee algorithm; local coordinates system (LCS); general coordinates system (GCS)