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

Access to Document

10.1177/0278364907078094

Cite this

@article{c73cd1ece36545f3a61e524c2aa34486,

title = "Motion planning for a class of planar closed-chain manipulators",

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.",

keywords = "Connected components, Motion planning, Parallel mechanism, Planar mechanisms, Topology",

author = "N. Shvalb and M. Shoham and G. Liu and Trinkle, \{J. C.\}",

year = "2007",

month = may,

doi = "10.1177/0278364907078094",

language = "אנגלית",

volume = "26",

pages = "457--473",

journal = "International Journal of Robotics Research",

issn = "0278-3649",

publisher = "SAGE Publications Inc.",

number = "5",

}

TY - JOUR

T1 - Motion planning for a class of planar closed-chain manipulators

AU - Shvalb, N.

AU - Shoham, M.

AU - Liu, G.

AU - Trinkle, J. C.

PY - 2007/5

Y1 - 2007/5

N2 - 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.

AB - 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.

KW - Connected components

KW - Motion planning

KW - Parallel mechanism

KW - Planar mechanisms

KW - Topology

UR - https://www.scopus.com/pages/publications/34047253224

U2 - 10.1177/0278364907078094

DO - 10.1177/0278364907078094

M3 - ???researchoutput.researchoutputtypes.contributiontojournal.article???

AN - SCOPUS:34047253224

SN - 0278-3649

VL - 26

SP - 457

EP - 473

JO - International Journal of Robotics Research

JF - International Journal of Robotics Research

IS - 5

ER -

Motion planning for a class of planar closed-chain manipulators

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this