S22  Mecatrônica    Titulo: CAN ROBOT MANIPULATORS AVOID MOVING OBSTACLES IN 3D WORKSPACES?   Resumo : ABSTRACT – THIS PAPER PRESENTS A GENERAL METHODOLOGY FOR THE OFF-LINE THREE-DIMENSIONAL OPTIMAL TRAJECTORY PLANNING OF ROBOT MANIPULATORS IN THE PRESENCE OF MOVING OBSTACLES. OBSTACLE AVOIDANCE IS OBTAINED BY ADDING PENALTY FUNCTIONS TO THE FUNCTION TO BE MINIMIZED. BESIDES, CONSTRAINTS WHICH DESCRIBE MINIMAL ACCEPTABLE DISTANCE BETWEEN POTENTIALLY COLLIDING PARTS ARE ALSO INCLUDED TO THE GENERAL NON-LINEAR OPTIMIZATION PROBLEM. THE OBSTACLES ARE PROTECTED BY SPHERICAL OR HYPER-SPHERICAL SECURITY ZONES WHICH ARE NEVER PENETRATED BY THE END-EFFECTOR. WHEN DEALING WITH MOVING OBSTACLES EITHER THE OBJECTIVE FUNCTION AND THE CONSTRAINT FUNCTIONS HAVE TO BE UP-DATED AT EACH TIME INSTANT. MULTI-CRITERION OBJECTIVE FUNCTIONS ARE CONSTRUCTED TO TAKE INTO-ACCOUNT TRAVELING TIME AND MECHANICAL ENERGY WHICH ARE BOTH MINIMIZED SIMULTANEOUSLY. NUMERICAL APPLICATIONS SHOW THE EFFICIENCY OF THE METHODOLOGY PRESENTED. KEY WORDS: ROBOT MANIPULATOR, OBSTACLE AVOIDANCE, TRAJECTORY PLANNING     Autores : SARAMAGO, SEZIMARIA PEREIRA STEFFEN, Jr, VALDER 0     Trabalho Completo :   COBEM99 | Comissão  Organizadora | Palestras | Sessões Técnicas | Autor | Simpósios e Sessões Especiais | Revisores |  Título  dos  Trabalhos | Local