Accession Number : ADA119507

Title :   On the Movement of Robot Arms in 2-Dimensional Bounded Regions.

Descriptive Note : Technical rept.,

Corporate Author : CORNELL UNIV ITHACA NY DEPT OF COMPUTER SCIENCE

Personal Author(s) : Hopcroft,John E ; Joseph,Deborah A ; Whitesides,Sue H

PDF Url : ADA119507

Report Date : Mar 1982

Pagination or Media Count : 34

Abstract : The classical mover's problem is the following: can a rigid object in 3-dimensional space be moved from one given position to another while avoiding obstacles? It is known that a more general version of this problem involving objects with movable joints is PSPACE complete, even for a simple tree-like structure moving in a 3-dimensional region. In this paper, we investigate a 2-dimensional mover's problem in which the object is a robot arm with an arbitrary number of joints. In particular, we give a polynomial time algorithm for moving an arm confined within a circle from one given configuration to another. We also give a polynomial time algorithm for moving the arm from its initial position to a position in which the end of the arm reaches a given point within the circle. (Author)

Descriptors :   *Polynomials, *Algorithms, *Automation, *Manipulators, *Artificial intelligence, Motion, Circles, Boundaries, Motion, Two dimensional, Three dimensional, Joints, Avoidance, Configurations

Subject Categories : Theoretical Mathematics
      Bionics

Distribution Statement : APPROVED FOR PUBLIC RELEASE