A simple motion-planning algorithm for general robot manipulators
نویسندگان
چکیده
منابع مشابه
A Simple Motion Planning Algorithm for General Robot Manipulators
Abstrct-A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n 1dimensional slices, recursively built up from one-...
متن کاملRobust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملMotion Planning and Control of Robot Manipulators
Oppgavens tittel (norsk): Bevegelsesplanlegging og regulering av robotmanipulatorer Oppgavens tittel (engelsk): Motion planning and control of robot manipulators Bakgrunn: Robot motion planning systems can be used to plan collision-free paths between start and end robot manipulator configurations. Many motion planners assume that the robot manipulator works in a static environment. However, man...
متن کاملEllipsoidal Modeling for Articulated Robot Manipulators for Interactive Motion Planning
The report presents an enclosing and enclosed ellipsoids based solid modeling technique for serial links of articulated robot manipulators. This modeling allows the collision detection for interactive robot motion planning in a graphical simulation environment or in a telerobotic simulator be performed efficiently and precisely. A systematic way of determining the kinematic transformation matri...
متن کاملSimple Motion Planning Strategies for Spherobot: A Spherical Mobile Robot
Mobile robots have been traditionally designed with wheels and few have explored designs with spherical exo-skeletons. A spherical mobile robot that offers to have a number of advantages, is proposed in this paper. The success of our design is contingent upon develop ment of control strategies, for reconfiguration of the sphere. In this paper we address the open-loop control problem and present...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Journal on Robotics and Automation
سال: 1987
ISSN: 0882-4967
DOI: 10.1109/jra.1987.1087095