A Simple Motion Planning Algorithm for General Robot Manipulators

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

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