Title :
Collision avoidance: divide-and-conquer approach by space characterization and intermediate goals
Author :
Hasegawa, Tsutomu ; Terasaki, Hajime
Author_Institution :
Electrotech. Lab., MITI, Ibaraki, Japan
Abstract :
An efficient method that finds collision-free paths for a manipulator with six revolute joints is described. A global structure of the free space in the three-dimensional (3-D) joint space of the arm of a large open space in the workspace, defined as a space where any orientation of the hand is possible, is represented in this description
Keywords :
industrial robots; operations research; position control; 3D joint space; collision avoidance; collision-free paths; divide-and-conquer approach; industrial robots; manipulator; operations research; space characterization; Collision avoidance; Computational geometry; Computational intelligence; Humans; Intelligent robots; Manipulators; Orbital robotics; Polynomials; Programming profession; Traffic control;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
