Avoiding the Obstacles in the Robot Working Zone by Using the Lee Algorithm
Naqib Daneshjo 1  
,  
Marian Kralik 2  
,  
 
 
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1
Faculty of Business Economics with seat in Kosice, University of Economics in Bratislava, Slovakia
2
Slovak University of Technology in Bratislava, Faculty of Mechanical Engineering, Namestie Slobody 17, 812 31 Bratislava 1, Slovakia
CORRESPONDING AUTHOR
Naqib Daneshjo   

Faculty of Business Economics with seat in Kosice, University of Economics in Bratislava, Slovakia
Publish date: 2019-06-01
 
Adv. Sci. Technol. Res. J. 2019; 13(2):72–83
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ABSTRACT
Non-collision trajectories of the industrial robot is the key objective when planning its handling cycles. When the robot should move optimally; precise and safely in each situation; it is necessary that every obstacle placed in its transition trajectory would be programmed to avoid. The optimal trajectory means exactly to choose, if possible, the shortest way and the most appropriate for the specific movement to be finished. The task of avoiding obstacles by the industrial robot in its working zone can be solved by various methods and algorithms. The paper shows the use of the kinematics SCARA as a way of avoiding obstacles by a robot in the working zone using the Lee algorithm. The configuration fields and networks are being modelled for the obstacles’ avoidance together with their evaluation and the search for the shortest trajectory reflected in the robot programming.