Collision free motion planning for robots by capturing the environment

IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 636–642

Abstract

More and more industrial robots are being used in SMEs. Due to the lack of CAD models, they are rarely programmed using offline programming methods. With the methods presented in this paper, missing 3D maps of the environment can be flexibly created and even inexperienced operators can be enabled to program complex, collision-free motion sequences. In addition, already programmed sequences can be optimized by the downstream motion planning. The presented method also allows the omitting of intermediate points in complex sequences, which significantly reduces commissioning time and complexity.

Authors 5

1. Philipp Blanke Aachen Chair of Machine Tools

   RWTH Aachen University

   Affiliation as printed

   Chair of Machine Tools, RWTH Aachen University, Aachen, Germany

2. Marvin Boltes Aachen Chair of Machine Tools

   RWTH Aachen University

   Affiliation as printed

   Chair of Machine Tools, RWTH Aachen University, Aachen, Germany

3. Simon Storms Aachen Chair of Machine Tools

   RWTH Aachen University

   Affiliation as printed

   Chair of Machine Tools, RWTH Aachen University, Aachen, Germany

4. Lars Lienenlüke Aachen Chair of Machine Tools

   RWTH Aachen University

   Affiliation as printed

   Chair of Machine Tools, RWTH Aachen University, Aachen, Germany

5. Christian Brecher Aachen Chair of Machine Tools

   RWTH Aachen University

   Affiliation as printed

   Chair of Machine Tools, RWTH Aachen University, Aachen, Germany