Affiliation:
1. Artificial Intelligence Laboratory Computer Science Department Stanford University Stanford, California 94305
Abstract
An efficient algorithm that finds collision-free paths for a manipulator with five or six revolute joints is described. It solves the problem for four-degree-of-freedom pick-and-place operations. Examples are given of paths found by the algorithm in tightly cluttered workspaces. The algorithm first describes free space in two ways: as freeways for the hand and payload ensemble and as freeways for the upper arm. Freeways match volumes swept out by manipulator motions and can be "inverted" to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under projection of constraints deter mined by motion of the forearm.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
128 articles.
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