COLLISION AVOIDANCE - DIVIDE-AND-CONQUER APPROACH BY SPACE CHARACTERIZATION AND INTERMEDIATE GOALS

被引：16

作者：

HASEGAWA, T ^{[1
]}

TERASAKI, H ^{[1
]}

机构：

[1] SANYO ELECT CO LTD,TSUKUBA RES CTR,TSUKUBA,IBARAKI 305,JAPAN

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1988年 / 18卷 / 03期

关键词：

ARTIFICIAL INTELLIGENCE - KINETICS;

D O I：

10.1109/21.7484

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

An efficient method that finds collision-free paths for a manipulator with six revolute joints is described. A global structure of the free space in the three-dimensional (3-D) joint space of the arm is outlined. The collison-free space of the arm of a large open space in the workspace, defined as a space where any orientation of the hand is possible, is represented in this description.

引用

页码：337 / 347

页数：11

共 19 条

[1] PLANNING COLLISION-FREE MOTIONS FOR PICK-AND-PLACE OPERATIONS [J].

BROOKS, RA .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1983, 2 (04) :19-44

[2]

Faverjon B., 1986, Proceedings 1986 IEEE International Conference on Robotics and Automation (Cat. No.86CH2282-2), P1406

[3]

FAVERJON B, 1984, MAR P INT C ROB ATL, P504

[4] STRATEGIES FOR SOLVING COLLISION-FREE TRAJECTORIES PROBLEMS FOR MOBILE AND MANIPULATOR ROBOTS [J].

GOUZENES, L .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1984, 3 (04) :51-75

[5] AN INTERACTIVE SYSTEM FOR MODELING AND MONITORING A MANIPULATION ENVIRONMENT [J].

HASEGAWA, T .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1982, 12 (03) :250-258

[6]

Hasegawa T., 1985, Proceedings of '85 International Conference on Advanced Robotics, P69

[7]

HASEGAWA T, 1987, OCT P 87 ICAR VERS, P295

[8] REAL-TIME OBSTACLE AVOIDANCE FOR MANIPULATORS AND MOBILE ROBOTS [J].

KHATIB, O .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (01) :90-98

[9]

Laugier C., 1985, Proceedings of '85 International Conference on Advanced Robotics, P33

[10]

Lozano-Perez T., 1986, Proceedings AAAI-86: Fifth National Conference on Artificial Intelligence, P626

← 1 2 →