Title :
Collision free paths in joint space for robotic manipulator
Author :
Yang, X.H. ; Cook, G.
Author_Institution :
Sch. of Inf. Technol. & Eng., George Mason Univ., Fairfax, VA, USA
Abstract :
The problem of path planning for robotic manipulators in the presence of obstacles is addressed. It is shown that when viewed in joint space rather than in Cartesian space the complex problem becomes significantly simpler. The problem is illustrated by the example of a two-link planar manipulator in the presence of three fixed obstacles in a two-dimensional Cartesian space
Keywords :
position control; robots; 2D Cartesian space; collision free paths; joint space; path planning; robotic manipulators; two-link planar manipulator; Couplings; End effectors; Manipulator dynamics; Optimal control; Orbital robotics; Path planning; Robot control; Robot kinematics; Space technology; Trajectory;
Conference_Titel :
Industrial Electronics Society, 1989. IECON '89., 15th Annual Conference of IEEE
Conference_Location :
Philadelphia, PA
DOI :
10.1109/IECON.1989.69701
