چکیده مقاله
On a machine shop floor mobile manipulators offer a viable and feasible solution for part transportation, loading and unloading operations among various machine tools/machining centers The order of complexity of such systems is between that of an AGV and a Robotic Work Cell This paper addresses two sets of problems for a mobile robot navigating on a machine shop floor; i developing a network of feasible paths i e a roadmap, through the robot’s free space, and ii generating a trajectory between any two specified locations on the roadmap These tasks are programmed and the simulation runs with snapshots are presented to highlight the algorithm and software The algorithm to find the optimum path is different from normally used A or shortest path algorithms, instead it is given the name “Minimize the Target Distance MTD ” algorithm
کلیدواژهها
نویسندگان
Syed Haider Riza
Associate Professor, Department of Industrial and Manufacturing Engineering
Nazimuddin Qureshi
Professor and Dean Faculty of Mechanical and Manufacturing Engineering
Shahid Hafeez Mirza
Professor and Dean Faculty of Electrical and Computer Engineering
شیوه ارجاع
Riza, Syed Haider and Qureshi, Nazimuddin and Hafeez Mirza, Shahid,1384,An Integrated Approach Towards Trajectory Planning for Mobile Robots Operating on a Machine Shop Floor,01st Tehran International Congress on Manufacturing Engineering (TICME2005),Tehran
ارائهشده در
مجموعه مقالات اولین کنفرانس بین المللی و هفتمین کنفرانس ملی مهندسی ساخت و تولید1 فروردین 1384 · تهران