Motion Planning for a Class of Planar Closed-chain Manipulators

Authors:
N. Shvalb;M. Shoham;G. Liu;J.C. Trinkle
Affiliations:
Department of ME, Technion-Israel Institute of Technology,Israel;Department of ME, Technion-Israel Institute of Technology,Israel;Department of Computer Science, Stanford University,Stanford, CA, USA;Department of Computer Science, Rensselaer PolytechnicInstitute, USA
Venue:
International Journal of Robotics Research
Year:
2007

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Abstract

The paper reports studies on the motion planning problem for planar star-shaped manipulators. These manipulators are formed by joining k “legs” to a common point (like the thorax of an insect) and then fixing the “feet” to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that the planning problem can be solved exactly. The worst-case complexity of the algorithm is O(k3 N 3), where N is the maximum number of links in a leg. Examples illustrating the method are given.