利用构型空间拓扑进行实时多机械手路径规划

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407361

J. Fox, A. A. Maciejewski

{"title":"利用构型空间拓扑进行实时多机械手路径规划","authors":"J. Fox, A. A. Maciejewski","doi":"10.1109/IROS.1994.407361","DOIUrl":null,"url":null,"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.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Utilizing the topology of configuration space in real-time multiple manipulator path planning\",\"authors\":\"J. Fox, A. A. Maciejewski\",\"doi\":\"10.1109/IROS.1994.407361\",\"DOIUrl\":null,\"url\":null,\"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.<<ETX>>\",\"PeriodicalId\":437805,\"journal\":{\"name\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"volume\":\"20 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-09-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1994.407361\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1994.407361","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 4

摘要

本文提供了一套算法，可以快速地建立关于构形空间连通性的定性信息。提出了一种机构，利用这些结果来确定一个机械手的运动对另一个机械手的位形空间的影响。然后，这些算法被用作一个简单规划器的基础，该规划器能够快速计算在重叠工作空间内操作的多个SCARA操纵器的无碰撞路径。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Utilizing the topology of configuration space in real-time multiple manipulator path planning

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.<>

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

自引率

0.00%

发文量