Abstract
This article presents a practical implementation of the theory for articulation of spatial robots such as the PUMA and TRS type robots. The “Blueprint Algorithm” is introduced as a simple rule‐based planning algorithm in which the geometry of interference takes on the role of a basis in a collision‐free path planning process amongst obstacles. This implementation presents a novel idea of “Machine Intelligence Via Robot Geometry” which utilizes robot attributes such as workspace and dexterity.
| Original language | English |
|---|---|
| Pages (from-to) | 465-484 |
| Number of pages | 20 |
| Journal | Journal of Robotic Systems |
| Volume | 8 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1991 Aug |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
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Choi, Y. J., Crane, C. D., & Matthew, G. K. (1991). Obstacle avoidance via articulation. Journal of Robotic Systems, 8(4), 465-484. https://doi.org/10.1002/rob.4620080404