Planning Collision- Free Motions for Pick-and-Place Operations
نویسندگان
چکیده
منابع مشابه
Planning plausible human motions for navigation and collision avoidance
This thesis investigates the plausibility of computer-generated human motions for navigation and collision avoidance. To navigate a human character through obstacles in an virtual environment, the problem is often tackled by finding the shortest possible path to the destination with smoothest motions available. This is because such solution is regarded as cost-effective and free-flowing in that...
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We propose a method to drive an underactuated manipulator among obstacles in its workspace. The method allows for collision-free trajectories to be generated from the dynamic equations of the manipulator. When the passive joints are locked, these trajectories lie on surfaces parallel to the axes of the active joints. When the passive joints are free, the trajectories lie on surfaces determined ...
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We propose a method to drive an underactuated manipulator among obstacles in its workspace. The method allows for collision-free trajectories to be generated from the dynamic equations of the manipulator. When the passive joints are locked, these trajectories lie on surfaces parallel to the axes of the active joints. When the passive joints are free, the trajectories lie on surfaces determined ...
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It has been suggested that the kinematics of a reach-to-grasp movement, performed within an action sequence, vary depending on the action goal and the properties of subsequent movement segments (action context effect). The aim of this study was to investigate whether the action context also affects action sequences that consist of several grasping movements directed toward different target obje...
متن کاملCollision-free Path Planning for Articulated Robots
The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for articulated robots. First, the configuration of a robot is designed using a set of robot joint angles derived from robot inverse kinematics. The joint space, which is made of a joint angle set, forms a Configuration space (Cspace). Obstacles in a robot work-cell are transformed into Cobstacles (obstacles...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 1983
ISSN: 0278-3649,1741-3176
DOI: 10.1177/027836498300200402