Utilizing the topology of configuration space in real-time multiple manipulator path planning

Author

Fox, John J. ; Maciejewski, Anthony A.

Author_Institution

Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA

Volume

1

fYear

1994

fDate

12-16 Sep 1994

Firstpage

665

Abstract

This paper provides a set of algorithms which allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented which utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner which is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces

Keywords

kinematics; manipulators; path planning; real-time systems; topology; SCARA manipulators; collision-free paths; configuration space; connectivity; kinematics; multiple manipulator; overlapping workspaces; path planning; real-time system; topology; Computer aided manufacturing; Costs; Indexing; Intelligent manufacturing systems; Manipulators; Motion planning; Orbital robotics; Path planning; Robots; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407361

Filename

407361