Planning Collision Free Motions for Pick and Place Operations

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

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