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LI Gang-jun. Collision-Based Motion Planning for Redundant Robot[J]. Journal of University of Electronic Science and Technology of China, 2005, 34(6): 828-831,864.
Citation: LI Gang-jun. Collision-Based Motion Planning for Redundant Robot[J]. Journal of University of Electronic Science and Technology of China, 2005, 34(6): 828-831,864.
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Collision-Based Motion Planning for Redundant Robot

  • 1.

    Mechatronic Department,Chengdu Electromechanical College Chengdu 610031

  • Received Date: 2005-08-25
  • Publish Date: 2005-12-15
  • Based on collision detection algorithm, a motion planning method for globally solving for the point-to-point inverse kinematics of robotic manipulators with high redundancy is developed. It can capture the connectivity of the connected components of the free configuration space from initial configuration to the objective configuration for the manipulators with constrains due to the joint limits, self-collision and obstacles in the environment. The efficiency and the practical value of the method is illustrated.
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    沈阳化工大学材料科学与工程学院 沈阳 110142

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Collision-Based Motion Planning for Redundant Robot

  • 1. Mechatronic Department,Chengdu Electromechanical College Chengdu 610031
  • Received Date: 2005-08-25
  • Publish Date: 2005-12-15

Abstract: Based on collision detection algorithm, a motion planning method for globally solving for the point-to-point inverse kinematics of robotic manipulators with high redundancy is developed. It can capture the connectivity of the connected components of the free configuration space from initial configuration to the objective configuration for the manipulators with constrains due to the joint limits, self-collision and obstacles in the environment. The efficiency and the practical value of the method is illustrated.

LI Gang-jun. Collision-Based Motion Planning for Redundant Robot[J]. Journal of University of Electronic Science and Technology of China, 2005, 34(6): 828-831,864.
Citation: LI Gang-jun. Collision-Based Motion Planning for Redundant Robot[J]. Journal of University of Electronic Science and Technology of China, 2005, 34(6): 828-831,864.
shu

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