The complexity of robot motion planning
The complexity of robot motion planning
Robot Motion Planning
A Solid Modelling System for Robot Action Planning
IEEE Computer Graphics and Applications
A New Cell-subdivision Approach to Plan Free Translations in Cluttered Environments
Journal of Intelligent and Robotic Systems
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Abstract: We present two feasible strategies for planning manipulators motions in low-dimensional spaces. The problem of avoiding collisions in an assembly cell is solved by analyzing separately the movements of a simple two-link chain and the displacement of the gripper. The free motions of the arm are planned by locally computing the C-space and incrementally refining a cell decomposition. The free configurations of the gripper are simply obtained by table look-up. The cell decomposition of the C-space rests on fast collision detection. Our techniques may also be helpful for assembly cells where two robots cooperate.