A Simple Motion Planning Algorithm for General Robot Manipulators
This paper presents a simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators. We describe an implementation of the algorithm for manipulators made up of revolute joints. The configuration-space obstacles for an n degree-of-freedom ma...
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| 语言: | en_US |
| 出版: |
2004
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| 在线阅读: | http://hdl.handle.net/1721.1/6448 |
| _version_ | 1826195974708527104 |
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| author | Lozano-Perez, Tomas |
| author_facet | Lozano-Perez, Tomas |
| author_sort | Lozano-Perez, Tomas |
| collection | MIT |
| description | This paper presents a simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators. We describe an implementation of the algorithm for manipulators made up of revolute joints. 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. |
| first_indexed | 2024-09-23T10:18:49Z |
| id | mit-1721.1/6448 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:18:49Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/64482019-04-10T09:58:42Z A Simple Motion Planning Algorithm for General Robot Manipulators Lozano-Perez, Tomas This paper presents a simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators. We describe an implementation of the algorithm for manipulators made up of revolute joints. 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. 2004-10-04T14:56:52Z 2004-10-04T14:56:52Z 1986-06-01 AIM-896 http://hdl.handle.net/1721.1/6448 en_US AIM-896 4512970 bytes 1661510 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Lozano-Perez, Tomas A Simple Motion Planning Algorithm for General Robot Manipulators |
| title | A Simple Motion Planning Algorithm for General Robot Manipulators |
| title_full | A Simple Motion Planning Algorithm for General Robot Manipulators |
| title_fullStr | A Simple Motion Planning Algorithm for General Robot Manipulators |
| title_full_unstemmed | A Simple Motion Planning Algorithm for General Robot Manipulators |
| title_short | A Simple Motion Planning Algorithm for General Robot Manipulators |
| title_sort | simple motion planning algorithm for general robot manipulators |
| url | http://hdl.handle.net/1721.1/6448 |
| work_keys_str_mv | AT lozanopereztomas asimplemotionplanningalgorithmforgeneralrobotmanipulators AT lozanopereztomas simplemotionplanningalgorithmforgeneralrobotmanipulators |