Publications / 1992 Proceedings of the 9th ISARC, Tokyo, Japan
Based on reference, a further analysis on the planning system for excavating-robot is proposed, in which the respective function of task planning, path planning and trajectory planning, is made clear. In order to increase the flexibility in planning and implement the part autonomy of excavating-robot, rules and their corresponding methods in different path plannings are researched. Several examples are given in this paper, including the path planning of excavating cycle process, planning and excavating process with force-monitor. Results of three-dimensional graphic simulations and experiments on the prototype excavating-robot at Machine Design lab, in Zhejiang University turn out that the theory and the methods are practical and effective.