Title :
Utilizing the topology of configuration space in real-time multiple manipulator path planning
Author :
Fox, John J. ; Maciejewski, Anthony A.
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
This paper provides a set of algorithms which allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented which utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner which is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces
Keywords :
kinematics; manipulators; path planning; real-time systems; topology; SCARA manipulators; collision-free paths; configuration space; connectivity; kinematics; multiple manipulator; overlapping workspaces; path planning; real-time system; topology; Computer aided manufacturing; Costs; Indexing; Intelligent manufacturing systems; Manipulators; Motion planning; Orbital robotics; Path planning; Robots; Topology;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407361
