The complexity of robot motion planning
The complexity of robot motion planning
Qualitative kinematics in mechanisms
Artificial Intelligence
Reasoning about linear constraints using parametric queries
FST and TC 10 Proceedings of the tenth conference on Foundations of software technology and theoretical computer science
Computer Aided Analysis and Optimization of Mechanical System Dynamics
Computer Aided Analysis and Optimization of Mechanical System Dynamics
A qualitative approach to rigid body mechanics
A qualitative approach to rigid body mechanics
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
IJCAI'89 Proceedings of the 11th international joint conference on Artificial intelligence - Volume 2
Simplification and abstraction of kinematic behaviors
IJCAI'89 Proceedings of the 11th international joint conference on Artificial intelligence - Volume 2
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We present an incremental configuration space (CS) construction algmithm for mechanisms described as collections of subassemblies of rigid parts. The inputs are the initial subassembly configurations and the subassembly CSs partitioned into uniform motion regions in which part contacts are constant and motions are monotonic. The output is a partition of the mechanism CS into uniform motion regions. The algorithm optimizes CS construction by incrementally enumerating and testing only the regions reachable from the initial configuration. We implement the algorithm for subassemblies whose uniform motion regions are polyhedral or are of dimension two or lower. The program constructs the exact CS when possible and an approximate CS otherwise. The approximate CS usually is qualitatively correct and in good quantitative agreement with the true CS. The program covers most mechanisms composed of linkages and fixed-axes kinematic pairs, two subassembly types for which CS construction programs are available.