Obstacle avoidance via articulation

Yong J. Choi, Carl D. Crane, Gary K. Matthew

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)465-484
Number of pages20
JournalJournal of Robotic Systems
Volume8
Issue number4
DOIs
Publication statusPublished - 1991 Jan 1

Fingerprint

Collision avoidance
Robots
Blueprints
Geometry
Motion planning
Planning

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Choi, Yong J. ; Crane, Carl D. ; Matthew, Gary K. / Obstacle avoidance via articulation. In: Journal of Robotic Systems. 1991 ; Vol. 8, No. 4. pp. 465-484.
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Obstacle avoidance via articulation. / Choi, Yong J.; Crane, Carl D.; Matthew, Gary K.

In: Journal of Robotic Systems, Vol. 8, No. 4, 01.01.1991, p. 465-484.

Research output: Contribution to journalArticle

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