Automatic Planning of Manipulator Transfer Movements
Automatic Planning of Manipulator Transfer Movements
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DOI：
10.1109/tsmc.1981.4308589
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发表时间：
1981-10
期刊：
影响因子：
--
通讯作者：
Tomas Lozano-Perez
中科院分区：
文献类型：
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作者：
Tomas Lozano-Perez
类的问题，涉及到找到在哪里放置或如何移动一个固体物体中存在的障碍进行了讨论。这类问题的解决方案对于机械手转移运动的自动规划是必不可少的，即，抓住一个部件并将其放置在某个位置的动作。例如，规划转移运动需要能够为操纵器规划避免与工作空间中的物体碰撞的路径，以及能够选择物体上的安全抓取点。这里所描述的这些问题的方法是基于一种方法，计算一个显式表示的机械手配置，会带来碰撞。
The class of problems that involve finding where to place or how to move a solid object in the presence of obstacles is discussed. 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. For example, planning transfer movements requires the ability to plan paths for the manipulator that avoid collisions with objects in the workspace and the ability to choose safe grasp points on objects. The approach to these problems described here is based on a method of computing an explicit representation of the manipulator configurations that would bring about a collision.