Utilizing the topology of configuration space in real-time multiple manipulator path planning
Date
2001
Authors
Maciejewski, Anthony A., author
Fox, J. J., author
ACTA Press, publisher
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Abstract
This article provides a set of algorithms that allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented that utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner that is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces.
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Subject
multiple manipulators
obstacle avoidance
path planning