A SIMPLE MOTION-PLANNING ALGORITHM FOR GENERAL ROBOT MANIPULATORS
A SIMPLE MOTION-PLANNING ALGORITHM FOR GENERAL ROBOT MANIPULATORS
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DOI：
10.1109/jra.1987.1087095
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发表时间：
1987-06-01
期刊：
影响因子：
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通讯作者：
LOZANOPEREZ, T
中科院分区：
文献类型：
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作者：
LOZANOPEREZ, T
提出了一种利用位形空间规划一般机械手无碰撞运动的简单有效的算法。给出了该算法在回转关节机械手中的实现方法。N自由度机械手的位形空间障碍物可以用由一维切片递归建立的n-1维切片集合来近似。这种障碍物表示导致了对构型空间障碍物之外的自由空间的有效近似。
A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. 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.