Automatic Planning of Manipulator Transfer Movements
This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning of manipulator transfer movements, i.e. the motions to grasp a part and plac...
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Language: | en_US |
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2004
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Online Access: | http://hdl.handle.net/1721.1/5702 |
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author | Lozano-Perez, Tomas |
author_facet | Lozano-Perez, Tomas |
author_sort | Lozano-Perez, Tomas |
collection | MIT |
description | This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning of manipulator transfer movements, i.e. the motions to grasp a part and place it at some destination. This paper presents algorithms for planning manipulator paths that avoid collisions with objects in the workspace and for choosing safe grasp points on objects. These algorithms allow planning transfer movements for Cartesian manipulators. The approach is based on a method of computing an explicit representation of the manipulator configurations that would bring about a collision. |
first_indexed | 2024-09-23T10:47:22Z |
id | mit-1721.1/5702 |
institution | Massachusetts Institute of Technology |
language | en_US |
last_indexed | 2024-09-23T10:47:22Z |
publishDate | 2004 |
record_format | dspace |
spelling | mit-1721.1/57022019-04-11T04:46:17Z Automatic Planning of Manipulator Transfer Movements Lozano-Perez, Tomas robotics collision avoidance path planning grasping This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning of manipulator transfer movements, i.e. the motions to grasp a part and place it at some destination. This paper presents algorithms for planning manipulator paths that avoid collisions with objects in the workspace and for choosing safe grasp points on objects. These algorithms allow planning transfer movements for Cartesian manipulators. The approach is based on a method of computing an explicit representation of the manipulator configurations that would bring about a collision. 2004-10-01T20:31:52Z 2004-10-01T20:31:52Z 1980-12-01 AIM-606 http://hdl.handle.net/1721.1/5702 en_US AIM-606 54 p. 16587061 bytes 11861940 bytes application/postscript application/pdf application/postscript application/pdf |
spellingShingle | robotics collision avoidance path planning grasping Lozano-Perez, Tomas Automatic Planning of Manipulator Transfer Movements |
title | Automatic Planning of Manipulator Transfer Movements |
title_full | Automatic Planning of Manipulator Transfer Movements |
title_fullStr | Automatic Planning of Manipulator Transfer Movements |
title_full_unstemmed | Automatic Planning of Manipulator Transfer Movements |
title_short | Automatic Planning of Manipulator Transfer Movements |
title_sort | automatic planning of manipulator transfer movements |
topic | robotics collision avoidance path planning grasping |
url | http://hdl.handle.net/1721.1/5702 |
work_keys_str_mv | AT lozanopereztomas automaticplanningofmanipulatortransfermovements |