Fox, John J., authorMaciejewski, Anthony A., authorIEEE, publisher2007-01-032007-01-031994Fox, John J. and Anthony A. Maciejewski, Utilizing the Topology of Configuration Space in Real-Time Multiple Manipulator Path Planning, [IROS '94: Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems: Advanced Robotic Systems and the Real World: September 12-16, 1994, Federal Armed Forces University, Munich, Germany]: 665-672.http://hdl.handle.net/10217/67376This 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.born digitalproceedings (reports)eng©1994 IEEE.Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.Text