A method is presented to efficiently compute a collision free path for manipulators with polyhedral links moving among polyhedral obstacles. The method is based on an analytical representation of the boundaries of configuration space obstacles (CSOB), obtained by modeling the contacts between manipulator links and obstacle as higher kinematic pairs. The contact conditions and manipulator kinematics are expressed in terms of homogeneous transformations, providing analytic relations between the joint angles and the contact variables. The set of joint angles associated with permissible contact variables forms the boundary of the CSOB. Using these analytical relations, the free space is efficiently divided into free-cells. Each contiguous set of free-cells is then represented by a connected graph that is of polynomial complexity in the number of geometric features of the obstacles and links. The shortest collision-free path on the graph is found using a best-first search. Examples are presented which demonstrate the method for a two link planar manipulator.
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December 1993
Research Papers
Collision-Free Path Planning of Articulated Manipulators
Zvi Shiller,
Zvi Shiller
Department of Mechanical Aerospace and Nuclear Engineering, University of California, Los Angeles, Los Angeles, CA 90024-1597
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Yu-Rwei Gwo
Yu-Rwei Gwo
Department of Mechanical Aerospace and Nuclear Engineering, University of California, Los Angeles, Los Angeles, CA 90024-1597
Search for other works by this author on:
Zvi Shiller
Department of Mechanical Aerospace and Nuclear Engineering, University of California, Los Angeles, Los Angeles, CA 90024-1597
Yu-Rwei Gwo
Department of Mechanical Aerospace and Nuclear Engineering, University of California, Los Angeles, Los Angeles, CA 90024-1597
J. Mech. Des. Dec 1993, 115(4): 901-908 (8 pages)
Published Online: December 1, 1993
Article history
Received:
August 1, 1991
Revised:
March 1, 1992
Online:
June 2, 2008
Citation
Shiller, Z., and Gwo, Y. (December 1, 1993). "Collision-Free Path Planning of Articulated Manipulators." ASME. J. Mech. Des. December 1993; 115(4): 901–908. https://doi.org/10.1115/1.2919285
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