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Automatic Planning of Manipulator Transfer Movements
(1980-12-01)
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 ...
Solving the Find-Path Problem by Representing Free Space as Generalized Cones
(1982-05-01)
Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with ...
Planning of Minimum-Time Trajectories for Robot Arms
(1984-11-01)
The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...