Movement Problems for 2-Dimensional Linkages
Movement Problems for 2-Dimensional Linkages
复制标题
二维连杆的运动问题
DOI：
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发表时间：
1984
期刊：
影响因子：
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通讯作者：
S. Whitesides
中科院分区：
文献类型：
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作者：
J. Hopcroft;D. Joseph;S. Whitesides
本文的动机是在机器人运动规划的问题。特别是，它是关注的运动的平面连杆机构的复杂性的观点。有两个主要结果。首先，平面连杆机构可以被约束为停留在一个有界区域内，该区域的边界由直线组成，通过添加多项式数量的新连杆。第二，在某些初始配置的平面连杆机构是否可以移动，使指定的关节到达平面上的给定点的问题是PSPACE困难的。
This paper is motivated by questions concerning the planning of motion in robotics. In particular, it is concerned with the motion of planar linkages from the complexity point of view. There are two main results. First, a planar linkage can be constrained to stay inside a bounded region whose boundary consists of straight lines by the addition of a polynomial number of new links. Second, the question of whether a planar linkage in some initial configuration can be moved so that a designated joint reaches a given point in the plane is PSPACE-hard.