A Simple Motion Planning Algorithm for General Robot Manipulators

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6448

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DC Field	Value	Language
dc.creator	Lozano-Perez, Tomas	-
dc.date	2004-10-04T14:56:52Z	-
dc.date	2004-10-04T14:56:52Z	-
dc.date	1986-06-01	-
dc.date.accessioned	2013-10-09T02:45:28Z	-
dc.date.available	2013-10-09T02:45:28Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AIM-896	-
dc.identifier	http://hdl.handle.net/1721.1/6448	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.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.	-
dc.format	4512970 bytes	-
dc.format	1661510 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AIM-896	-
dc.title	A Simple Motion Planning Algorithm for General Robot Manipulators	-
Appears in Collections:	MIT Items

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