기하학적 파라미터를 이용한 직관적 로봇 경로 생성
Intuitive Robot Path Planning by Using Geometric Parameters
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초록
There are increasing demands from industries for intuitive path planning in the cartesian coordinate. The main focus of this study is to generate a path by using geometric parameters of 3-dimensional curve function. The Frenet frame and geometric parameters (curvature and torsion) will give a more intuitive and easier concept for generating a complex motion. This paper covers the definition of geometric parameters and conversion into parametric representation. Then, a path interpolation between each point is implemented by Bezier method and parametric representation. Finally, path generation examples are conducted for verifying effectiveness the proposed planning method. The results shows geometric parameters can be usefully applied to generate a robot path.
Abstract
There are increasing demands from industries for intuitive path planning in the cartesian coordinate. The main focus of this study is to generate a path by using geometric parameters of 3-dimensional curve function. The Frenet frame and geometric parameters (curvature and torsion) will give a more intuitive and easier concept for generating a complex motion. This paper covers the definition of geometric parameters and conversion into parametric representation. Then, a path interpolation between each point is implemented by Bezier method and parametric representation. Finally, path generation examples are conducted for verifying effectiveness the proposed planning method. The results shows geometric parameters can be usefully applied to generate a robot path.
참고문헌 (7)
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- Beom-Sahng Ryuh, "A New Robot Trajectory Generation Method Based on the Curvature Theory of a Ruled Surface for Precision Control", Journal of Korean Soc. of Mechanical Engineering, 22(7), pp.1205~1215 (1998)
- Hans Hagen, "Bezier-Curves with Curvature and Torsion Continuity", Journal of Mathematics, 16(3), pp.629~638 (1986)
- Peter March, "Geometric-based Spatial Path Planning", 박사, pp.2008