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

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