Planning Collision Free Motions for Pick and Place Operations

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/5650

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DC Field	Value	Language
dc.creator	Brooks, Rodney A.	-
dc.date	2004-10-01T20:18:11Z	-
dc.date	2004-10-01T20:18:11Z	-
dc.date	1983-05-01	-
dc.date.accessioned	2013-10-09T02:40:33Z	-
dc.date.available	2013-10-09T02:40:33Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AIM-725	-
dc.identifier	http://hdl.handle.net/1721.1/5650	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.description	An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 revolute joints is described. It solves the problem for four degree of freedom pick and place operations. Examples are given of paths found by the algorithm in tightly cluttered workspaces. The algorithm first describes free space in two ways: as freeways for the hand and payload ensemble and as freeways for the upperarm. Freeways match volumes swept out by manipulator motions and can be "inverted" to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under projection of constraints determined by motion of the forearm.	-
dc.format	49 p.	-
dc.format	5418871 bytes	-
dc.format	4253848 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AIM-725	-
dc.subject	find-path	-
dc.subject	pick and place	-
dc.subject	collision avoidance	-
dc.title	Planning Collision Free Motions for Pick and Place Operations	-
Appears in Collections:	MIT Items

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