Proceedings:
Book One
Volume
Issue:
Proceedings of the AAAI Conference on Artificial Intelligence, 3
Track:
Vision and Robotics
Downloads:
Abstract:
Collision free motions for a manipulator with revolute joints (e.g. a PUMA) are planned through an obstacle littered workspace by first describing free space in two ways: as freeways for the hand and payload ensemble and as freeways for the up-perarm. Freeways match volumes swept out by manipulator motions and can be "inverted" to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under protection of constraints determined by motion of the forearm.
AAAI
Proceedings of the AAAI Conference on Artificial Intelligence, 3