Planning Collision Free Motions for Pick and Place Operations
An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 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 firs...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/5650 |