Without using tedious and maybe unsolvable robot teaching practice, a precise and efficient off-line path planning method is developed for industrial robots. Robot location is investigated to find a suitable installation position so as to ensure a possible path planning and to provide an index of better solution for the following path planning. Three extended wave propagation methods, the neighboring search, the depth-first search, and the extensile neighboring search, are investigated. The proposed extensile neighboring method not only can provide a reliable solution to successfully search a path, but also can autonomously reduce the manipulation steps effectively by the developed recursive algorithm.

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