Automatic Planning of Manipulator Transfer Movements

dc.creator	Lozano-Perez, Tomas
dc.date	2004-10-01T20:31:52Z
dc.date	2004-10-01T20:31:52Z
dc.date	1980-12-01
dc.date.accessioned	2013-10-09T02:40:55Z
dc.date.available	2013-10-09T02:40:55Z
dc.date.issued	2013-10-09
dc.identifier	AIM-606
dc.identifier	http://hdl.handle.net/1721.1/5702
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning of manipulator transfer movements, i.e. the motions to grasp a part and place it at some destination. This paper presents algorithms for planning manipulator paths that avoid collisions with objects in the workspace and for choosing safe grasp points on objects. These algorithms allow planning transfer movements for Cartesian manipulators. The approach is based on a method of computing an explicit representation of the manipulator configurations that would bring about a collision.
dc.format	54 p.
dc.format	16587061 bytes
dc.format	11861940 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-606
dc.subject	robotics
dc.subject	collision avoidance
dc.subject	path planning
dc.subject	grasping
dc.title	Automatic Planning of Manipulator Transfer Movements

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