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http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6448| Title: | A Simple Motion Planning Algorithm for General Robot Manipulators |
| Issue Date: | 9-Oct-2013 |
| Description: | This paper presents a simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators. We describe an implementation of the algorithm for manipulators made up of revolute joints. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n-1 dimensional slices, recursively built up from one dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles. |
| URI: | http://koha.mediu.edu.my:8181/xmlui/handle/1721 |
| Other Identifiers: | AIM-896 http://hdl.handle.net/1721.1/6448 |
| Appears in Collections: | MIT Items |
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