A simple motion-planning algorithm for general robot manipulators
- 1 June 1987
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 3 (3), 224-238
- https://doi.org/10.1109/jra.1987.1087095
Abstract
A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1- dimensional slices, recursively built up from one-dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles.Keywords
This publication has 12 references indexed in Scilit:
- Collision Detection for Moving PolyhedraIeee Transactions On Pattern Analysis and Machine Intelligence, 1986
- A subdivision algorithm in configuration space for findpath with rotationIEEE Transactions on Systems, Man, and Cybernetics, 1985
- Strategies for Solving Collision-free Trajectories Problems for Mobile and Manipulator RobotsThe International Journal of Robotics Research, 1984
- Planning Collision- Free Motions for Pick-and-Place OperationsThe International Journal of Robotics Research, 1983
- On the “piano movers” problem. II. General techniques for computing topological properties of real algebraic manifoldsAdvances in Applied Mathematics, 1983
- Robot programmingProceedings of the IEEE, 1983
- Spatial Planning: A Configuration Space ApproachIEEE Transactions on Computers, 1983
- Automatic Planning of Manipulator Transfer MovementsIEEE Transactions on Systems, Man, and Cybernetics, 1981
- An algorithm for planning collision-free paths among polyhedral obstaclesCommunications of the ACM, 1979
- Interference detection among solids and surfacesCommunications of the ACM, 1979