OPTIMAL ROBOT MOTION PLANNING AND WORK-CELL LAYOUT DESIGN

This paper describes an interactive software system, developed at the Robotics and Automation Laboratory at UCLA to demonstrate innovative a pproaches to off-line robot programming and work-cell layout design. T he software computes the time-optimal motions along specified paths, l ocal optimal paths around an initial guess, and the global optimal pat h between given end-points. It considers the full robot dynamics, actu ator constraints, on the payload acceleration or the gripping force, a nd any number of polygonal obstacles of any shape. The graphic display s provide a useful tool for interactive motion planning and workcell d esign.