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A Simple Motion Planning Algorithm for General Robot Manipulators

Author(s)
Lozano-Perez, Tomas
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Abstract
This paper presents a simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators. We describe an implementation of the algorithm for manipulators made up of revolute joints. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n-1 dimensional slices, recursively built up from one dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles.
Date issued
1986-06-01
URI
http://hdl.handle.net/1721.1/6448
Other identifiers
AIM-896
Series/Report no.
AIM-896

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  • AI Memos (1959 - 2004)

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