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Author Xue, Q. ♦ Sheu, P.C.-Y.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1989
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Special computer methods
Subject Keyword Path planning ♦ Manipulators ♦ Robot kinematics ♦ Orbital robotics ♦ Joining processes ♦ Search methods ♦ Computational complexity ♦ Arm ♦ Collision avoidance ♦ Master-slave
Abstract The authors investigate the path-planning problem for two planar robot manipulators which cooperate in carrying a rectangular object from an initial position and orientation to a destination position and orientation in a two-dimensional environment. To approach the problem, they model the robot arms, the carried object, and the straight line connecting two of the robot bases as a six-link closed chain. The path-planning problem for the six-link closed chain is solved by the collision-free feasible configuration finding algorithm and the collision-free path-finding algorithm. The former finds all collision-free feasible configurations (CFFCs) for the six-link closed chain at each quantized interval for two of the six joint angles. The latter builds a connection graph of the CFFCs and the transitions between any two groups of CFFCs at adjacent joint intervals. A graph search method is used to find a collision-free path for each robot joint. The algorithms can deal with cluttered environments and can be proved to converge.
Description Author affiliation: Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA (Xue, Q.)
ISBN 0818619848
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1989-10-23
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 800.25 kB
Page Count 9
Starting Page 649
Ending Page 657


Source: IEEE Xplore Digital Library