Optimized-Motion Planning: Theory and Implementation

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Wiley, Oct 14, 1994 - Technology & Engineering - 366 pages
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The first handbook to the practical specifics of motion planning, Optimized-Motion Planning offers design engineers methods and insights for solving real motion planning problems in a 3-dimensional space. Complete with a disk of software programs, this unique guide allows users to design, test, and implement possible solutions, useful in a host of contexts, especially tool path planning. Beginning with a brief overview of the general class of problems examined within the book as well as available solution techniques, Part 1 familiarizes the reader with the conceptual threads that underlie each approach. This early discussion also considers the specific applications of each technique as well as its computational efficiency. Part 2 illustrates basic problem-solving methodology by considering the case of a point moving between stationary polygons in a plane. This section features algorithms for data organization and storage, the concepts of passage networks and feasibility charts, as well as the path optimization algorithm. Elaborating on the problematic model described in Part 2, Part 3 develops an algorithm for optimizing the motion of a point between stationary polyhedra in a 3-dimensional space. This algorithm is first applied to the case of nonpoint objects moving between obstacles that can be stationary or moving with known patterns. It's then used in connection with the extensively investigated problem of motion planning for multilink manipulators.

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About the author (1994)

About the authors CHERIF AHRIKENCHEIKH is a postdoctoral fellow in the Department of Mechanical Engineering at the University of Wisconsin at Madison. He graduated with high honors from the National Polytechnic Institute of Algeria in 1983 and was awarded the Algerian Government Scholarship for study abroad in 1984. He received the first prize in graduate research in Expo ’91 and is a member of the science honorary society Sigma Xi. Dr. Ahrikencheikh received his PhD from the University of Wisconsin. ALl SEIREG is Kaiser Professor at the University of Wisconsin at Madison and Ebaugh Professor at the University of Florida at Gainesville. He has had an extensive career in engineering education and industry and served as consultant to numerous industrial, governmental, and scientific organizations. He was the founding chairman of the Computer Engineering Division of ASME and the founding editor of the ASME Computer in Engineering Journal CIME. He has served as chairman of the ASME Council on Engineering and on the Executive Council of the International Federation of Theory of Machines and Mechanisms. He has received many honors and awards including the 1970 George Westinghouse Award of the ASEE, the ASME Machine Design Award in 1978, and the ASME Design Automation Award in 1990. He was elected honorary member in the Chinese Mechanical Engineering Society in 1986, and a Foreign Member of the Russian Academy of Science in 1988. Dr. Seireg received his PhD from the University of Wisconsin.

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