Accession Number : ADA183816

Title :   A Simple Motion Planning Algorithm for General Robot Manipulators,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Lozano-Perez,Tomas

PDF Url : ADA183816

Report Date : Jun 1986

Pagination or Media Count : 33

Abstract : This paper presents a simple and efficient algorithm using configuration space, to plan collision-free motions for general robot manipulators. It describes an implementation of the algorithm for manipulators made up of revolute joints. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1 dimensional slices, recursively built up from one dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles. Keywords: Polygons; Joint angles; Paths; Heuristic subsets. (Author)

Descriptors :   *ALGORITHMS, *MANIPULATORS, *ROBOTS, DEGREES OF FREEDOM, MOTION, PLANNING, EFFICIENCY, ANGLES, THREE DIMENSIONAL, PATHS

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE