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Utilizing the topology of configuration space in real-time manipulator path planning

Date

1994

Authors

Fox, John J., author
Maciejewski, Anthony A., author
IEEE, publisher

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Abstract

This paper provides a set of algorithms which allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented which 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 which is capable of rapidly computing collision free paths for multiple SCARA manipulators operating within overlapping workspaces.

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