The present diploma thesis deals with the path planning and obstacle avoidance of a 6R industrial robot for acoustic measurements of internal combustion engines. In a first step, the geometry of the target object is scanned with a laser scanner and a computer-based representation is realized with the graphics library Open Inventor. In a second step, measurement surfaces are defined interactively by the operator. Path planning and obstacle avoidance is implemented by an approach based on artificial potential fields. The simulation of the robot in an environment of artificial potential fields is realized with the multibody program system MOBILE. Furthermore a self-adjusting geometric rendering of the system is implemented, which allows the user to reposition the robot or the measurement object after geometry acquisition.
|Effective start/end date||1/01/95 → 31/01/02|