TY - GEN
T1 - Motion planning for a class of planar closed-chain manipulators
AU - Liu, Guanfeng
AU - Trinkle, J. C.
AU - Shvalb, N.
PY - 2006
Y1 - 2006
N2 - We study the motion problem for planar star-shaped manipulators. These manipulators are formed by joining k "legs" to a common point (like the thorax of an insect) and then fixing the "feet" to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that planning problem can be solved exactly. The worst-case complexity of our algorithm is O(k 3 N 3), where N is the maximum number of links in a leg. A simple example illustrating our method is given.
AB - We study the motion problem for planar star-shaped manipulators. These manipulators are formed by joining k "legs" to a common point (like the thorax of an insect) and then fixing the "feet" to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that planning problem can be solved exactly. The worst-case complexity of our algorithm is O(k 3 N 3), where N is the maximum number of links in a leg. A simple example illustrating our method is given.
UR - https://www.scopus.com/pages/publications/33845678858
U2 - 10.1109/ROBOT.2006.1641173
DO - 10.1109/ROBOT.2006.1641173
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AN - SCOPUS:33845678858
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 133
EP - 138
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -