Publications / 2003 Proceedings of the 20th ISARC, Eindhoven, Holland

Motion Planning of Mounting Robots with Intelligent Control

Thomas Bock, Alexej Bulgakow, Dimitry Parshin
Pages 127-130 (2003 Proceedings of the 20th ISARC, Eindhoven, Holland, ISBN 978-90-6814-574-8, ISSN 2413-5844)

high efficiency of mounting robotized complexes is achievable by means of adaptive control algorithms that provide motion planning and forming of control actions, taking into account conditions of manipulator, object and environment. Incomplete and unclear body of data on the object and operating space does not allow to obtain the desired control using traditional computational algorithms. The constructed control algorithms allow to detour the obstacles, move in straight and curve trajectories with the specified speed, to decrease the rate of construction’s movement, to perform orientation of construction and provide its smooth installation into the projective position.

Keywords: robotization, construction, control algorithms, visual sensor, mobile robots, planning of the robot’s movement, kinematics.