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June 1, 1987IEEE Journal on Robotics and Automation616 citations

A simple motion-planning algorithm for general robot manipulators

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TLTomás Lozano‐PérezMassachusetts Institute of Technology

Key Points

  • To develop a simple and computationally efficient motion-planning algorithm for generating collision-free trajectories in general multi-degree-of-freedom robotic manipulators.
  • Modeled configuration-space obstacles for an n-degree-of-freedom manipulator using recursive sets of (n - 1)-dimensional slices derived from one-dimensional slices.
  • Implemented the geometric slicing framework specifically for robotic manipulators constructed with revolute joints.
  • Enabled efficient representation and approximation of collision-free space outside complex configuration-space obstacles.
  • Provided a scalable geometric framework to plan obstacle-avoiding joint paths across multi-axis manipulator architectures.

Abstract

A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1- dimensional slices, recursively built up from one-dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles.

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Cite This Study

Tomás Lozano‐Pérez (1987) studied this question.

synapsesocial.com/papers/6a11d92045487b7639a56e90https://doi.org/10.1109/jra.1987.1087095
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