Dynamic path planning and expert control of the SIR-3 robotic manipulator

Teoh, Eam Khwang; Tan, W.M.; Tay, Wan Ying

doi:10.1109/iros.1991.174433

Proceedings IROS '91:ieee/RSJ International Workshop on Intelligent Robots and Systems '91

DOI: 10.1109/iros.1991.174433

|View full text |Cite

Dynamic path planning and expert control of the SIR-3 robotic manipulator

Eam Khwang Teoh

W.M. Tan

Wan Ying Tay

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Publication Types

Select...

Other2

Relationship

Self Cite1

Independent1

Authors

Journals

Cited by 2 publications

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Tan²,

Tay³

Singapore International Conference on Intelligent Control and Instrumentation [Proceedings 1992]

Self Cite

View full text Add to dashboard Cite

This paper presents a path algorithm, using rule-based expert system concept, for real-time control of a robotic manipulator. The algorithm is able to generate three different paths to enable the manipulator to avoid an obstacle and then to select the shortest or the leastsegmented path to reach the end point. This algorithm requires very little computation time as compared to some of the other technique proposed. A graphical presentation of the result is also provided onscreen together with a 3-dimensional display to enhance the user's visualization of the results obtained. Simulation results showed that with the input data, the algorithm is able to generate the appropriate path and compute the necessary link angles to effect a movement of the links of the manipulator based on the generated path data.

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

hi@scite.ai

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Dynamic path planning and expert control of the SIR-3 robotic manipulator

Cited by 2 publications

References 2 publications