| 摘要 |
PURPOSE: A device and method for planning the route of a robot are provided to satisfy mechanical constraint condition and to generate stable motion. CONSTITUTION: A device for planning the route of a robot comprises a configuration space to generate the movement path of a robot manipulator. The configuration space has an initial point(S), a target point(G), and a constraint condition. An RRT route satisfies the constraint condition on the configuration space and connects the initial point and target point. The intermediate router interlinking two random points(g) of the RRT route is formed. The intermediate router is projected to determine whether the constraint condition is satisfied. When the constraint condition is satisfied with, the two random points are saved in the RRT route. |
