A Simple Motion Planning Algorithm for General Robot Manipulators
| dc.date.accessioned | 2004-10-04T14:56:52Z | |
| dc.date.accessioned | 2018-11-24T10:13:47Z | |
| dc.date.available | 2004-10-04T14:56:52Z | |
| dc.date.available | 2018-11-24T10:13:47Z | |
| dc.date.issued | 1986-06-01 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/6448 | |
| dc.identifier.uri | http://repository.aust.edu.ng/xmlui/handle/1721.1/6448 | |
| dc.description.abstract | 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. | en_US |
| dc.format.extent | 4512970 bytes | |
| dc.format.extent | 1661510 bytes | |
| dc.language.iso | en_US | |
| dc.title | A Simple Motion Planning Algorithm for General Robot Manipulators | en_US |
Files in this item
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| AIM-896.pdf | 1.661Mb | application/pdf | View/ |
| AIM-896.ps | 4.512Mb | application/postscript | View/ |