A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is
Moving from a given position to another with an industrial robot can be a challenging problem when the task is redundant around the tool axis. In this case, there are infinite ways of choosing both the starting and the ending configurations, so that the movement between the given points is not uniquely defined. In this paper, an algorithm that calculates the suboptimal movement between two positions is proposed, which automatically generates a cloud of safe via points around the workpiece anddoi:10.3390/robotics8040101 fatcat:sqomoqb5afhfhpsm3ciq2fpzza