Efficient computation of obstacle free paths in the configuration space

Z. Shiller, Y. R. Gwo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A method is presented to efficiently obtain a collision free path for manipulators with polyhedral links moving among polyhedral obstacles. The method is based on an analytical representation of the boundaries of configuration space obstacles (CSOB), obtained by modeling the contacts between manipulator links and obstacles as higher kinematic pairs. The contact conditions and manipulator kinematics are expressed in terms of homogeneous transformations, providing analytic relations between the joint angles and the contact variables. The set of joint angles associated with permissible contact variables forms the boundary of the CSOB. Using these analytical relations, the free space is efficiently divided into free-cells, and each contiguous set of free-cells is represented by a connected graph. The total number of nodes is polynomial in the number of geometric features of the obstacles and the links. Examples are presented which demonstrate the method for a two link planar manipulator.

Original languageEnglish
Title of host publicationModelling and Control of Compliant and Rigid Motion Systems
Pages179-186
Number of pages8
StatePublished - 1991
Externally publishedYes
EventWinter Annual Meeting of the American Society of Mechanical Engineers - Anaheim, CA, USA
Duration: 8 Nov 199213 Nov 1992

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume31

Conference

ConferenceWinter Annual Meeting of the American Society of Mechanical Engineers
CityAnaheim, CA, USA
Period8/11/9213/11/92

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