The beam analysis algorithm for path planning for redundant manipulators

An algorithm for path planning for redundant manipulators is presented in this paper. The algorithm uses harmonic potential fields defined globally in W-space (work space) for both path planning and obstacle avoidance. Although paths generated by harmonic potential fields are collision free for poin...

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Bibliographic Details
Published in:	Mechatronics (Oxford) Vol. 15; no. 1; pp. 67 - 94
Main Authors:	Conkur, Erdinc Sahin, Buckingham, Rob, Harrison, Andrew
Format:	Journal Article
Language:	English
Published:	Oxford Elsevier Ltd 01-02-2005 Elsevier Science
Subjects:	Applied sciences Drives Exact sciences and technology Linkage mechanisms, cams Mechanical engineering. Machine design Obstacle avoidance Path planning Potential field Redundant robots Path planning Potential field Redundant robots Obstacle avoidance Harmonic Moving robot Redundancy Interaction Beam(mechanics) Robotics Complexity Manipulator Optimal trajectory Linkage mechanism Planning Collision avoidance
Online Access:	Get full text
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