TY - GEN
T1 - Efficient computation of obstacle free paths in the configuration space
AU - Shiller, Z.
AU - Gwo, Y. R.
PY - 1991
Y1 - 1991
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0026371498&partnerID=8YFLogxK
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AN - SCOPUS:0026371498
SN - 0791808629
T3 - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
SP - 179
EP - 186
BT - Modelling and Control of Compliant and Rigid Motion Systems
T2 - Winter Annual Meeting of the American Society of Mechanical Engineers
Y2 - 8 November 1992 through 13 November 1992
ER -