Motion planning for a class of planar closed-chain manipulators

N. Shvalb; M. Shoham; G. Liu; J. C. Trinkle

doi:10.1177/0278364907078094

Motion planning for a class of planar closed-chain manipulators

N. Shvalb, M. Shoham, G. Liu, J. C. Trinkle

Research output: Contribution to journal › Article › peer-review

16 Scopus citations

Abstract

The paper reports studies on the motion planning 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 the planning problem can be solved exactly. The worst-case complexity of the algorithm is O(k³ N³), where N is the maximum number of links in a leg. Examples illustrating the method are given.

Original language	English
Pages (from-to)	457-473
Number of pages	17
Journal	International Journal of Robotics Research
Volume	26
Issue number	5
DOIs	https://doi.org/10.1177/0278364907078094
State	Published - May 2007
Externally published	Yes

Keywords

Connected components
Motion planning
Parallel mechanism
Planar mechanisms
Topology

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10.1177/0278364907078094

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Motion planning for a class of planar closed-chain manipulators

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Keywords

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