Accession Number : ADA130448

Title :   Planning Collision Free Motions for Pick and Place Operations.

Descriptive Note : Memorandum rept.,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Brooks,Rodney A

PDF Url : ADA130448

Report Date : May 1983

Pagination or Media Count : 50

Abstract : An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 revolute joints is described. It solves the problem for four degree of freedom pick and place operations. Examples are given of paths found by the algorithm in tightly cluttered workspaces. The algorithm first describes free space in two ways: as freeways for the hand and payload ensemble and as Freeways for the upperarm. Freeways match volumes swept out by manipulator motions and can be inverted to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under projection of constraints determined by motion of the forearm. (Author)

Descriptors :   *Algorithms, *Manipulators, *Collision avoidance, *Payload, Degrees of Freedom, Motion, Planning, Hands, Joints, Paths, Robots

Subject Categories : Theoretical Mathematics
      Machinery and Tools

Distribution Statement : APPROVED FOR PUBLIC RELEASE